Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김영준 | * |
dc.date.accessioned | 2016-08-28T11:08:21Z | - |
dc.date.available | 2016-08-28T11:08:21Z | - |
dc.date.issued | 2010 | * |
dc.identifier.isbn | 9783642174513 | * |
dc.identifier.issn | 1610-7438 | * |
dc.identifier.other | OAK-13506 | * |
dc.identifier.uri | https://dspace.ewha.ac.kr/handle/2015.oak/229490 | - |
dc.description.abstract | We introduce a novel proximity query, called connection collision query (CCQ), and use it for efficient and exact local planning in sampling-based motion planners. Given two collision-free configurations, CCQ checks whether these configurations can be connected by a given continuous path that either lies completely in the free space or penetrates any obstacle by at most ε, a given threshold. Our approach is general, robust, and can handle different continuous path formulations. We have integrated the CCQ algorithm with sampling-based motion planners and can perform reliable local planning queries with little performance degradation, as compared to prior methods. Moreover, the CCQ-based exact local planner is about an order of magnitude faster than prior exact local planning algorithms. © 2010 Springer-Verlag Berlin Heidelberg. | * |
dc.language | English | * |
dc.title | CCQ: Efficient local planning using connection collision query | * |
dc.type | Conference Paper | * |
dc.relation.issue | STAR | * |
dc.relation.volume | 68 | * |
dc.relation.index | SCOPUS | * |
dc.relation.startpage | 229 | * |
dc.relation.lastpage | 247 | * |
dc.relation.journaltitle | Springer Tracts in Advanced Robotics | * |
dc.identifier.doi | 10.1007/978-3-642-17452-0_14 | * |
dc.identifier.scopusid | 2-s2.0-78650137331 | * |
dc.author.google | Tang M. | * |
dc.author.google | Kim Y.J. | * |
dc.author.google | Manocha D. | * |
dc.contributor.scopusid | 김영준(56223507100) | * |
dc.date.modifydate | 20240322133440 | * |