---
abstract: "We present a new approach to path planning, called the ``Ariadne's clew algorithm''. It is designed to find paths in high-dimensional continuous spaces and applies to robots with many degrees of freedom in static, as well as dynamic environments --- ones where obstacles may move. The Ariadne's clew algorithm comprises two sub-algorithms, called SEARCH and EXPLORE, applied in an interleaved manner. EXPLORE builds a representation of the accessible space while SEARCH looks for the target. Both are posed as optimization problems. We describe a real implementation of the algorithm to plan paths for a six degrees of freedom arm in a dynamic environment where another six degrees of freedom arm is used as a moving obstacle. Experimental results show that a path is found in about one second without any pre-processing."
altloc:
- http://www-laplace.imag.fr/publications/Rayons/mazer98a.pdf
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creators_name:
- family: Mazer
given: E
honourific: Dr
lineage: ''
- family: Ahuactzin
given: J-M
honourific: Dr
lineage: ''
- family: Bessiere
given: P
honourific: Dr
lineage: ''
date: 1998
date_type: published
datestamp: 2004-08-10
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dir: disk0/00/00/37/51
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lastmod: 2011-03-11 08:55:39
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pagerange: 295-316
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publication: Journal of Artificial Intelligence Research (JAIR)
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rev_number: 12
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status_changed: 2007-09-12 16:53:14
subjects:
- comp-sci-robot
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title: The Ariadne's Clew Algorithm
type: journalp
userid: 4357
volume: 9