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The use of anthropomorphic mechanical hands allows the execution of complex manipulation tasks and, therefore, its use is increasing, both in humanoid robots and mobile manipulators. The planning of the motions of these hands is not easy due to the high number of degrees of freedom (DOF) involved. Even when they may be mechanically independent, these degrees of freedom can be artificially coupled...
The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT∗ planner has been proposed to cope with optimization problems, and has been proven to be asymptotically optimal. Any optimization function can be defined, although optimization has been usually focused on the traveled...
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