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Steps toward derandomizing RRTs
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891), 2004We present two new motion planning algorithms, based on the rapidly exploring random tree (RRT) family of algorithms. These algorithms represent the first work in the direction of derandomizing RRTs; this is a very challenging problem due to the way randomization is used in RRTs.
Stephen R. Lindemann, Steven M. LaValle
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RRT: MODALITIES - ANTICOAGULATION
Acta Clinica Belgica, 2007(2007). RRT: MODALITIES - ANTICOAGULATION. Acta Clinica Belgica: Vol. 62, No. sup2, pp. 362-364.
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Smooth RRT-connect: An extension of RRT-connect for practical use in robots
2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2015We propose a new extend function for Rapidly-Exploring Randomized Tree (RRT) algorithms that expands along a curve, obeying velocity and acceleration limits, rather than using straight-line trajectories. This results in smooth, feasible trajectories that can readily be applied in robotics applications.
Chelsea Lau, Katie Byl
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The Polarized RRT-Edge Approach
2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE), 2018In this paper, a polarization technique is presented to reduce the amount of iterations and node discard of the RRT-Edge algorithm. The RRT-Edge differs from Classic RRT by the insertion of a new node-tree connection method. The connection rule uses variable edge size and the possibility to connect a new node to an edge of the tree.
Alana de Santana Correia +4 more
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Narrow passage RRT*: a new variant of RRT*
International Journal of Computational Vision and Robotics, 2022Amine Belaid +2 more
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AEB-RRT*: an adaptive extension bidirectional RRT* algorithm
Autonomous Robots, 2022Xuewu Wang +4 more
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2017 18th International Conference on Advanced Robotics (ICAR), 2017
We present a novel, data-driven kinodynamic motion planner. Our sampling-based planner is based on using a physics simulator as a black box to compute a trajectory considering dynamics, even when we cannot derive exact propagation functions. To improve its overall efficiency, we pre-compute a motion database containing different motions simulated with ...
Junghwan Lee +2 more
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We present a novel, data-driven kinodynamic motion planner. Our sampling-based planner is based on using a physics simulator as a black box to compute a trajectory considering dynamics, even when we cannot derive exact propagation functions. To improve its overall efficiency, we pre-compute a motion database containing different motions simulated with ...
Junghwan Lee +2 more
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RRT planner for the binpicking problem
9th International Workshop on Robot Motion and Control, 2013In this paper, we analyse a modification of the RRT algorithm introduced in [6], for an efficient pathplanning in a binpicking scenario. The new RRT variation will be called RRT-Binpicking or RRTB. We also give a necessary condition when RRTB will perform better than the classical RRT.
Jose Capco +2 more
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Visual-RRT: Integrating IBVS as a steering method in an RRT planner
Robotics and Autonomous Systems, 2023Ramses Reyes +3 more
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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
Dave Ferguson 0001, Anthony Stentz
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Dave Ferguson 0001, Anthony Stentz
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