Exploring constraint removal motion planners
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2017
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| Online Access: | http://hdl.handle.net/1721.1/106389 |
| _version_ | 1826205556580286464 |
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| author | Venkatraman, Amruth |
| author2 | Tomás Lozano-Pérez. |
| author_facet | Tomás Lozano-Pérez. Venkatraman, Amruth |
| author_sort | Venkatraman, Amruth |
| collection | MIT |
| description | Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016. |
| first_indexed | 2024-09-23T13:15:01Z |
| format | Thesis |
| id | mit-1721.1/106389 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T13:15:01Z |
| publishDate | 2017 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1063892019-04-12T17:03:40Z Exploring constraint removal motion planners Venkatraman, Amruth Tomás Lozano-Pérez. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Cataloged from student-submitted PDF version of thesis. Includes bibliographical references (page 47). We present algorithms for motion planning that can tolerate collisions. Because finding a path of minimum cover is prohibitively expensive, we investigate algorithms that work well in practice and find solutions close to the true minimum cover solution. We introduce the notion of removal importance for obstacles and the family of iterative obstacle removing RRTs (IOR-RRTs). This family of algorithms operate similarly to the RRT but iteratively tolerate more collisions in trying to identify a path. One member of the family that performs well is the search informed IOR-RRT. This search technique first performs bidirectional collision-free search to find a clear path if possible. In failure, it iteratively selects an obstacle for removal using its removal importance. We measure the performance of our algorithms on a multi-link robot operating in both environments with feasible paths and those where collisions must be allowed. by Amruth Venkatraman. M. Eng. 2017-01-12T18:18:48Z 2017-01-12T18:18:48Z 2016 2016 Thesis http://hdl.handle.net/1721.1/106389 967661833 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 47 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Venkatraman, Amruth Exploring constraint removal motion planners |
| title | Exploring constraint removal motion planners |
| title_full | Exploring constraint removal motion planners |
| title_fullStr | Exploring constraint removal motion planners |
| title_full_unstemmed | Exploring constraint removal motion planners |
| title_short | Exploring constraint removal motion planners |
| title_sort | exploring constraint removal motion planners |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/106389 |
| work_keys_str_mv | AT venkatramanamruth exploringconstraintremovalmotionplanners |