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A basic motion planning problem is to compute a continuous path that connects a start configuration S and a goal configuration G, while avoiding collision with known obstacles. The robot and obstacle geometry is described in a 2D or 3D workspace , while the motion is represented as a path in (possibly higher-dimensional) configuration space .
Real-Time Path Planning is a term used in robotics that consists of motion planning methods that can adapt to real time changes in the environment. This includes everything from primitive algorithms that stop a robot when it approaches an obstacle to more complex algorithms that continuously takes in information from the surroundings and creates a plan to avoid obstacles.
A reference model architecture is a canonical form, not a system design specification. The RCS reference model architecture combines real-time motion planning and control with high level task planning, problem solving, world modeling, recursive state estimation, tactile and visual image processing, and acoustic signature analysis.
Depending on the configuration, open-chain robotic manipulators require a degree of trajectory optimization. For instance, a robotic arm with 7 joints and 7 links (7-DOF) is a redundant system where one cartesian position of an end-effector can correspond to an infinite number of joint angle positions, thus this redundancy can be used to optimize a trajectory to, for example, avoid any ...
Further, in planning with rational or real time, the state space may be infinite, unlike in classical planning or planning with integer time. Temporal planning is closely related to scheduling problems when uncertainty is involved and can also be understood in terms of timed automata. The Simple Temporal Network with Uncertainty (STNU) is a ...
Guidance, navigation and control (abbreviated GNC, GN&C, or G&C) is a branch of engineering dealing with the design of systems to control the movement of vehicles, especially, automobiles, ships, aircraft, and spacecraft. In many cases these functions can be performed by trained humans.
When planning, agents have to avoid collisions with paths of other agents with a higher priority that have already computed their plans. Finding a solution for the MAPF problem in such setting corresponds to the shortest path problem in a time-expansion graph. [9] A time-expansion graph is a graph that takes into account the passing of time.
The Graphical Path Method (GPM) is a mathematically based algorithm used in project management for planning, scheduling and resource control. GPM represents logical relationships of dated objects – such as activities , milestones , and benchmarks – in a time-scaled network diagram.