Monday, May 2, 2011
Konrad-Zuse-Zentrum für Informationstechnik Berlin
Lecture - 14:15
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