Publications Details

Effective path planning through task restriction

Chen, P.C.

We present a simple and effective path planning algorithm, an essential component in facilitating robot programming, based on a series of plausible task restriction. It is designed to solve realistic'' problems very quickly, at the expense of not being able to solve every problem. First, the notion of realistic'' problems is motivated with heuristic arguments and formalized through task restrictions. Next, an algorithm solving the resulting tasks of interest is provided. We prove its corrections and theoretical efficiency, and demonstrate empirically its effectiveness and speed. We expect our algorithm to be of practical significance based on its simplicity and predicted performance. 9 refs., 7 figs.