Monday, May 2, 2011
Konrad-Zuse-Zentrum für Informationstechnik Berlin
Takustr. 7
14195 Berlin
room 2005
Lecture - 14:15
Abstract:
Planning collision-free paths for mobile objects (robots or
other creatures) moving in environments cluttered with
obstacles has attracted intensive research for over three
decades now. The motion-planning problem has been studied
by different communities, primarily computational geometry
and robotics, having different focus and naturally
producing different types of solutions. We review milestone
results in this study, describing how the perception of
what is difficult in motion planning has changed over the
years. We then concentrate on recent developments on both
fronts. On one hand efficient analytic solutions, which
however, are limited to a small number of degrees of motion
freedom. On the other hand practical solutions that can
cope with a large number of degrees of freedom, but for
which the required amount of computing resources is often
unpredictable. We conclude with reporting on hybrid
techniques that aim to bridge the gap between the solutions
produced by the different communities, adopting the good of
both worlds.
Colloquium - 16:00