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Conference Paper: CVT-based 2D motion planning with maximal clearance

TitleCVT-based 2D motion planning with maximal clearance
Authors
Issue Date2011
PublisherIEEE, Computer Society.
Citation
The 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 9-13 May 2011. In Proceedings of the IEEE-ICRA, 2011, p. 2281-2287 How to Cite?
Abstract
Maximal clearance is an important property that is highly desirable in multi-agent motion planning. However, it is also inherently difficult to attain. We propose a novel approach to achieve maximal clearance by exploiting the ability of evenly distributing a set of points by a centroidal Voronoi tessellation (CVT). We adapt the CVT framework to multi-agent motion planning by adding an extra time dimension and optimize the trajectories of the agents in the augmented domain. As an optimization framework, our method can work naturally on complex regions. We demonstrate the effectiveness of our algorithm in achieving maximal clearance in motion planning with some examples.
Persistent Identifierhttp://hdl.handle.net/10722/140007
ISSN
2013 SCImago Journal Rankings: 0.628

 

DC FieldValueLanguage
dc.contributor.authorZheng, Len_US
dc.contributor.authorChoi, YKen_US
dc.contributor.authorLiu, Xen_US
dc.contributor.authorWang, WPen_US
dc.date.accessioned2011-09-23T06:04:39Z-
dc.date.available2011-09-23T06:04:39Z-
dc.date.issued2011en_US
dc.identifier.citationThe 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 9-13 May 2011. In Proceedings of the IEEE-ICRA, 2011, p. 2281-2287en_US
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/140007-
dc.description.abstractMaximal clearance is an important property that is highly desirable in multi-agent motion planning. However, it is also inherently difficult to attain. We propose a novel approach to achieve maximal clearance by exploiting the ability of evenly distributing a set of points by a centroidal Voronoi tessellation (CVT). We adapt the CVT framework to multi-agent motion planning by adding an extra time dimension and optimize the trajectories of the agents in the augmented domain. As an optimization framework, our method can work naturally on complex regions. We demonstrate the effectiveness of our algorithm in achieving maximal clearance in motion planning with some examples.-
dc.languageengen_US
dc.publisherIEEE, Computer Society.-
dc.relation.ispartofProceedings of the IEEE International Conference on Robotics and Automationen_US
dc.rightsIEEE International Conference on Robotics and Automation Proceedings. Copyright © IEEE, Computer Society.-
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rights©2011 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.titleCVT-based 2D motion planning with maximal clearanceen_US
dc.typeConference_Paperen_US
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1050-4729&volume=&spage=2281&epage=2287&date=2011&atitle=CVT-based+2D+motion+planning+with+maximal+clearance-
dc.identifier.emailZheng, L: zhenglp@hfut.edu.cnen_US
dc.identifier.emailChoi, YK: lykchoi@hku.hken_US
dc.identifier.emailLiu, X: lxp@hfut.edu.cn-
dc.identifier.emailWang, WP: wenping@cs.hku.hk-
dc.identifier.authorityChoi, YK=rp00106en_US
dc.identifier.authorityWang, WP=rp00186en_US
dc.description.naturepublished_or_final_version-
dc.identifier.hkuros196317en_US
dc.identifier.spage2281en_US
dc.identifier.epage2287en_US
dc.description.otherThe 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 9-13 May 2011. In Proceedings of the IEEE-ICRA, 2011, p. 2281-2287-

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