Title :
Automatic planning of fine motions: Correctness and completeness
Author :
Mason, Matthew T.
Author_Institution :
Carnegie-Mellon University, Pittsburgh, PA
Abstract :
In this paper we explore a method for automatic planning of robot fine-motion programs, first described in [Lozano-Pérez, Mason, and Taylor 1983]. The primary result is a variation that is shown to be "bounded-complete"-the method obtains a solution whenever a solution consisting of a bounded number of motions exists.
Keywords :
Automatic control; Computer science; Convergence; Error correction; Large Hadron Collider; Motion planning; Robot sensing systems; Robotics and automation; Strategic planning; Uncertainty;
Conference_Titel :
Robotics and Automation. Proceedings. 1984 IEEE International Conference on
DOI :
10.1109/ROBOT.1984.1087152
