Given a robot and a workspace, probabilistic roadmap planners (PRMs) build a roadmap of paths sampled from the workspace. A roadmap node is a single collision{free robot con guration, randomly generated. A roadmap edge is a sequence of collision{free robot con gurations which interpolate the path from one roadmap node to another. Queries to the roadmap are (start, goal) pairs. If both the start...

In this paper we describe a roadmap-based approach for a multi-agent search strategy to clear a building or multi-story environment. This approach utilizes an encoding of the environment in the form of a graph (roadmap) that is used to encode feasible paths through the environment. The roadmap is partitioned into regions, e.g., one per level, and we design region-based search strategies to cove...

We present a novel method for robot motion planning that constructs a network of collision free paths using a randomized search over a potential eld in Connguration Space. Our method nds local minima and then connects them to form a graph, which we call a roadmap. We use a gradient search scheme to nd the local minima very eeciently and accurately. To nd a path between two conngurations, it is ...

ECIF (Integrated Forum on Electronic Commerce) is a Korean organization streamlining domestic private sector e-commerce standardization facilitation and promoting domestic/ international discourse for the enhancement of Korea’s e-commerce competitiveness. Herein is presented a summary of the Roadmap for E-Commerce Standardization, a major Forum project since early 2000. First, we overview the b...

Medical device standards outline the requirements for developing medical devices. These standards however, do not outline how these requirements should be implemented causing difficulties for organisations entering the medical device domain. The goal of this study is to validate a roadmap for the implementation of the ISO 14971 standard. The validation examined the arrangement of the milestones...

Probabilistic Roadmaps (PRM) are a randomized tool for path planning in configuration spaces where exhaustive search is computationally intractable. It has been noted that the PRM algorithm’s computational cost can be greatly reduced by reducing the number of samples necessary to construct a successful roadmap. We examine the information theoretic properties of roadmap construction and propose ...

In this paper, we present a new scheme for planning a naturallooking locomotion of a human-like biped figure. Given start and goal positions in a virtual environment, our scheme finds a sequence of motions to move from the start position to the goal using a set of prescribed, live-captured motion clips. Our scheme consists of three parts: roadmap construction, roadmap search, and motion generat...

A robot can explore an unknown environment by incrementally constructing a roadmap of that environment using line of sight sensor information. Recall that a roadmap is a one-dimensional representation of a robot's environment. This paper addresses one problem that occurs while generating a roadmap: what happens when sonar sensors cannot detect sharp objects because of the specularities? To do t...