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Factored Planning for Controlling a Robotic Arm: Theory Jaesik Choi and Eyal Amir
 

Summary: Factored Planning for Controlling a Robotic Arm: Theory
Jaesik Choi and Eyal Amir
Computer Science Department
University of Illinois at Urbana-Champaign
Urbana, IL 61801
{choi31,eyal}@cs.uiuc.edu
Abstract
Controlling robotic arms is important for real, physical
world applications. Such control is hard because move-
ment of one joint affects the position of many of the rest.
In this paper we present an algorithm that finds plans of
motion from one arm configuration to a goal arm con-
figuration. Our algorithm is unique in two ways: (a)
It takes time that is only polynomial in the number of
joints (O(m7
2n
), with m joints and n island obsta-
cles), thus allowing scaling up to complex arms; and (b)
it decomposes the control problem to that of the sep-
arate joints, thus enabling future development of reac-

  

Source: Amir, Eyal - Department of Computer Science, University of Illinois at Urbana-Champaign

 

Collections: Computer Technologies and Information Sciences