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Probabilistic Roadmaps (PRM) have been successfully used to plan complex robot motions in configuration spaces of small and large dimensionalities. However, their efficiency decreases dramatically in spaces with narrow passages. This paper presents a new method—small-step retraction—that helps PRM planners find paths through such passages. This method consists of slightly “fattening” robot's free...
The Medial Axis Transform (MAT) was defined by Blum in the 1960s as an alternate description of the shape of an object. Since then, its potential applicability in a wide range of engineering domains has been acknowledged. However, this potential has never quite been realized, except recently in two dimensions. One reason is the difficulty in defining algorithms for finding the MAT, especially in...
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