HOLLAND%RCSMPA%gmr.com@CSNET-RELAY.ARPA ("Steven W. Holland") (06/16/86)
Seminar at General Motors Research Laboratories, Warren, Michigan (GMR):
Motion Planning: a Survey of the State of the Art
Joseph O'Rourke
Department of Computer Science
Johns Hopkins University
Monday, June 23, 1986
Abstract
Motion planning from the viewpoint of computational geometry is the problem
of moving an object (a robot hand, for example) from an initial to a final
position in the presence of fixed obstacles. A large number of algorithms
have been developed for various cases of this problem recently. I will
describe the two main paradigms for solving this problem, growing
algorithms and Voronoi diagram algorithms, and survey the known results.
Several special cases will be discussed, including moving a disk, moving a
ladder, moving through a door, and moving around a corner. I will also
touch on the more complex problem of moving through an environment which is
not itself fixed, for example, one that contains several independently
moving robots.
Joseph O'Rourke has been Assistant Professor at Johns Hopkins University
since receiving the Ph.D. degree in Computer Science at the University of
Pennsylvania in 1980. His dissertation research was in computer vision,
and he has published in pattern recognition, but now his research is
focused on computational geometry. O'Rourke is a NSF Presidential Young
Investigator.
-Steve Holland, Computer Science Department