Computing push plans for disk-shaped robots

M.T. Berg, de; D.H.P. Gerrits

doi:10.1109/ROBOT.2010.5509937

Computing push plans for disk-shaped robots

M.T. Berg, de, D.H.P. Gerrits

Algorithms

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

8 Citations (Scopus)

Abstract

Suppose we want to move a passive object along a given path, among obstacles in the plane, by pushing it with an active robot. We present two algorithms to compute a push plan for the case that the object and robot are disks and the obstacles are non-intersecting line segments. The first algorithm assumes that the robot must maintain contact with the object at all times, and produces a shortest path. There are also situations, however, where the robot has no choice but to let go of the object occasionally. Our second algorithm handles such cases, but no longer guarantees that the produced path is the shortest possible.

Original language	English
Title of host publication	Proceedings 2010 IEEE International Conference on Robotics and Automation (ICRA, Anchorage, Alaska, May 3-7, 2010)
Publisher	Institute of Electrical and Electronics Engineers
Pages	4487-4492
ISBN (Print)	978-1-4244-5038-1
DOIs	https://doi.org/10.1109/ROBOT.2010.5509937
Publication status	Published - 2010

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10.1109/ROBOT.2010.5509937

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title = "Computing push plans for disk-shaped robots",

abstract = "Suppose we want to move a passive object along a given path, among obstacles in the plane, by pushing it with an active robot. We present two algorithms to compute a push plan for the case that the object and robot are disks and the obstacles are non-intersecting line segments. The first algorithm assumes that the robot must maintain contact with the object at all times, and produces a shortest path. There are also situations, however, where the robot has no choice but to let go of the object occasionally. Our second algorithm handles such cases, but no longer guarantees that the produced path is the shortest possible.",

author = "{Berg, de}, M.T. and D.H.P. Gerrits",

year = "2010",

doi = "10.1109/ROBOT.2010.5509937",

language = "English",

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publisher = "Institute of Electrical and Electronics Engineers",

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Computing push plans for disk-shaped robots. / Berg, de, M.T.; Gerrits, D.H.P.
Proceedings 2010 IEEE International Conference on Robotics and Automation (ICRA, Anchorage, Alaska, May 3-7, 2010). Institute of Electrical and Electronics Engineers, 2010. p. 4487-4492.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Berg, de, M.T.

AU - Gerrits, D.H.P.

PY - 2010

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N2 - Suppose we want to move a passive object along a given path, among obstacles in the plane, by pushing it with an active robot. We present two algorithms to compute a push plan for the case that the object and robot are disks and the obstacles are non-intersecting line segments. The first algorithm assumes that the robot must maintain contact with the object at all times, and produces a shortest path. There are also situations, however, where the robot has no choice but to let go of the object occasionally. Our second algorithm handles such cases, but no longer guarantees that the produced path is the shortest possible.

AB - Suppose we want to move a passive object along a given path, among obstacles in the plane, by pushing it with an active robot. We present two algorithms to compute a push plan for the case that the object and robot are disks and the obstacles are non-intersecting line segments. The first algorithm assumes that the robot must maintain contact with the object at all times, and produces a shortest path. There are also situations, however, where the robot has no choice but to let go of the object occasionally. Our second algorithm handles such cases, but no longer guarantees that the produced path is the shortest possible.

U2 - 10.1109/ROBOT.2010.5509937

DO - 10.1109/ROBOT.2010.5509937

M3 - Conference contribution

SN - 978-1-4244-5038-1

SP - 4487

EP - 4492

BT - Proceedings 2010 IEEE International Conference on Robotics and Automation (ICRA, Anchorage, Alaska, May 3-7, 2010)

PB - Institute of Electrical and Electronics Engineers

ER -

Computing push plans for disk-shaped robots

Abstract

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