Path Planning Research

Path Planning Algorithms

Path planning is a popular subject in robotics and becoming increasingly important in computer animation and virtual reality as well. Methods for finding collision-free paths are being studied for 2D and 3D environments cluttered with obstacles. Our approach works even when the obstacles are time-varying (e.g., in motion). We are investigating methods for planning collaborative motions for multiple agents and applications to animation and robotics.

Publication

K. Fujimura and H. Samet, Planning a time-minimal motion among moving obstacles, Algorithmica Vol. 10, 41-63, 1993. (Abstract)
K. Fujimura, Motion planning in time-varying domains: the case of cyclic motions, Advanced Robotics Vol. 10,, 1993. (Abstract)
K. Fujimura, Motion planning amid transient obstacles, International Journal of Robotics Research, Vol. 13 , No.5, 395-407, 1994. (Abstract)
K. Fujimura, Time-minimum route in time-dependent networks, IEEE Trans. on Robotics and Automation Vol. 11 , No. 3(June 1995) 343-351. (Abstract)
K. Fujimura, Motion planning amidst dynamic obstacles in three dimensions, IEEE International Conference on Intelligent Robots and Systems , Yokohama (Japan), 1387-1392, 1993. full version. .
K. Fujimura and K. Singh, Planning cooperative motion for distributed mobile agents. Journal of Robotics and Mechatronics Vol. 8, No. 1, (February 1996), 75-80.

Go back to shape modeling research page.