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This paper presents an efficient path planner to identify difficult regions for path planning in changing environments, in which obstacles can move randomly. The difficult regions consist of narrow passages and the boundaries of obstacles in robot Configuration Space (C-space). These regions exert significantly negative influence on finding a valid path in static environments. The problem becomes...
This paper presents a path planner based on PRM framework for robots operating in changing environments, in which obstacles can move randomly and robots may change their original shapes, e.g. a robot manipulator grasps an object. W-C nodes mapping coupled with lazy edges evaluation is used to ensure a generated path containing only valid nodes and edges when constructed probabilistic roadmap becomes...
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