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RI Seminar, Yong K. Hwang


Despite numerous research efforts on robot motion planning, existing motion planners for manipulators either do not guarantee a solution, or take hours of computation time. We present an efficient and resolution-complete algorithm whose performance is commensurate with task difficulty. The algorithm uses SANDROS, a new search strategy that combines hierarchical, nonuniform-multi-resolution, and best-first search to find a near-optimal solution in the configuration space. When tested with commercial robots, its computation times have been under 1 minute for easy problems and under 5 minutes for difficult problems. We are working on further speeding up this planner using a parallel computer. The SANDROS planner is the first motion planner selected for commercialization by the US industries.
Host:           Yangsheng Xu (xu+@cs.cmu.edu)
Appointment:    Ava Cruse (avac@cs.cmu.edu)

Christopher Lee | chrislee@ri.cmu.edu
Last modified: Wed Oct 12 12:01:10 1994