Publications
Detailed Information
Motion Planning on Disconnected Manifolds: Manipulation under Task and Obstacle Constraints : 불연속 다양체에서의 동작 계획
Cited 0 time in
Web of Science
Cited 0 time in Scopus
- Authors
- Advisor
- 박종우
- Major
- 공과대학 기계항공공학부
- Issue Date
- 2013-02
- Publisher
- 서울대학교 대학원
- Description
- 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2013. 2. 박종우.
- Abstract
- In this thesis we introduce an algorithm for motion planning on disconnected manifolds. Constraint manifolds can be disconnected if, for example, both task constraints and obstacles are present in the task space. Our proposed algorithm uses sampling-based motion planning on a foliation structure that consists of parallel submanifolds of lower dimension. Some case studies are performed to evaluate the
performance of our proposed algorithm.
- Language
- English
- Files in This Item:
Item View & Download Count
Items in S-Space are protected by copyright, with all rights reserved, unless otherwise indicated.