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On the Complexity of Kinodynamic Planning

dc.contributor.authorCanny, Johnen_US
dc.contributor.authorDonald, Bruce Randallen_US
dc.contributor.authorReif, Johnen_US
dc.contributor.authorXavier, Patrick G.en_US
dc.date.accessioned2007-04-23T17:33:50Z
dc.date.available2007-04-23T17:33:50Z
dc.date.issued1988-08en_US
dc.description.abstractIn robotics, kinodynamic planning attempts to solve a motion problem subject to simultaneous kinematic and dynamic constraints. We consider the following problem: given a robot system, find a minimal-time trajectory from a start position and velocity to a goal position and velocity, while avoiding obstacles and respecting dynamic constraints on velocity and acceleration. We consider the simplified case of a point mass under Newtonian mechanics, together with velocity and acceleration bounds. The point must be flown from a start to a goal, amidst polyhedral obstacles in 2D or 3D. While exact solutions to this problem are not known, we provide the first provably good approximation algorithm, and show that it runs in polynomial time.en_US
dc.format.extent2078058 bytes
dc.format.extent419890 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypeapplication/postscript
dc.identifier.citationhttp://techreports.library.cornell.edu:8081/Dienst/UI/1.0/Display/cul.cs/TR88-929en_US
dc.identifier.urihttps://hdl.handle.net/1813/6769
dc.language.isoen_USen_US
dc.publisherCornell Universityen_US
dc.subjectcomputer scienceen_US
dc.subjecttechnical reporten_US
dc.titleOn the Complexity of Kinodynamic Planningen_US
dc.typetechnical reporten_US

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