On Multiple Moving Objects

Abstract

This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the planner constructs a configuration space-time that represents the time-varying constraints imposed on the moving object by the other moving and stationary objects. The planner represents this space-time approximately, using two-dimensional slices. The space-time is then searched for a collision-free path. The paper demonstrates this approach in two domains. One domain consists of translating planar objects; the other domain consists of two-link planar articulated arms. Keywords: Artificial intelligence.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1986
Accession Number
ADA196213

Entities

People

  • Michael Erdmann
  • Thomas Lozano-perez

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Collision Avoidance
  • Computations
  • Computer Science
  • Control Systems
  • Electrical Engineering
  • Motion Planning
  • Orientation (Direction)
  • Relative Motion
  • Robotic Swarms
  • Robotics
  • Robots
  • Three Dimensional
  • Time Intervals
  • Trajectories
  • Two Dimensional

Readers

  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Space
  • Space - Space Objects
  • Space - Spacecraft Maneuvers