We propose the Hit-and-Run algorithm for planning and sampling problems in nonconvex spaces. For sampling, we show the first analysis of the Hit-and-Run algorithm in non-convex spaces and show that it mixes fast as long as certain smoothness conditions are satisfied. In particular, our analysis reveals an intriguing connection between fast mixing and the existence of smooth measurepreserving ma...

Unmanned Aerial Vehicles (UAVs) are becoming increasingly useful for several different applications. One issue faced in the growing popularity of UAVs is collision avoidance. With multiple aircraft in a finite airspace, some sort of algorithm must be used in order to avoid near misses and collisions while staying within reasonable bounds for a given mission. This paper proposes a new algorithm ...

The paper proposes a simulation-based method for validating analog and mixed-signal circuits, using the hybrid systems methodology. This method builds upon RRT (Rapidly-exploring Random Trees), a probabilistic path/motion planning technique in robotics with a special property that allows to guarantee a good coverage quality. We focus on investigating conditions for preserving this coverage prop...

A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building two Rapidly-exploring Random Trees (RRTs) rooted at the start and the goal configurations. The trees each explore space around them and also advance towards each other through the use of a simple greedy heur...

LaValle & Kuffner [] present an application of a randomized technique to the problem of kinodynamic planning. Their algorithm constructs Rapidly-exploring Random Trees (RRTs) in a high dimensional state space that encompasses both first order constraints resulting from the physically-based system dynamics as well as global kinematic constraints due to obstacles in the environment. By coupling...

We describe an algorithm based on motion-planning techniques to determine the existence of an accessible route through a facility for a wheeled mobility device. The algorithm is based on LaValle's work on rapidly exploring random trees and is enhanced to take into consideration the particularities of the accessible route domain. Specifically, the algorithm is designed to allow performance-based...

In this paper, we present a motion planning framework for a fully deployed autonomous unmanned aerial vehicle which integrates two sample-based motion planning techniques, Probabilistic Roadmaps and Rapidly Exploring Random Trees. Additionally, we incorporate dynamic reconfigurability into the framework by integrating the motion planners with the control kernel of the UAV in a novel manner with...

this study aims at analyzing spatial pattern and associations of fagus oriantalis lipsky in different vertical classes in intact beech forests. data collection was done in 25 ha plot in gorazbon district of educational and experimental forests of university of tehran. species and dbh of all trees with dbh > 7.5 cm were recorded. the location of each tree was determined using azimuth and distanc...