Open Access. Powered by Scholars. Published by Universities.®

Operations Research, Systems Engineering and Industrial Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

Departmental Papers (ESE)

Local free space

Articles 1 - 2 of 2

Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

Clustering-Based Robot Navigation And Control, Omur Arslan Aug 2016

Clustering-Based Robot Navigation And Control, Omur Arslan

Departmental Papers (ESE)

In robotics, it is essential to model and understand the topologies of configuration spaces in order to design provably correct motion planners. The common practice in motion planning for modelling configuration spaces requires either a global, explicit representation of a configuration space in terms of standard geometric and topological models, or an asymptotically dense collection of sample configurations connected by simple paths, capturing the connectivity of the underlying space. This dissertation introduces the use of clustering for closing the gap between these two complementary approaches. Traditionally an unsupervised learning method, clustering offers automated tools to discover hidden intrinsic structures in ...


Exact Robot Navigation Using Power Diagrams, Omur Arslan, Daniel E. Koditschek May 2016

Exact Robot Navigation Using Power Diagrams, Omur Arslan, Daniel E. Koditschek

Departmental Papers (ESE)

We reconsider the problem of reactive navigation in sphere worlds, i.e., the construction of a vector field over a compact, convex Euclidean subset punctured by Euclidean disks, whose flow brings a Euclidean disk robot from all but a zero measure set of initial conditions to a designated point destination, with the guarantee of no collisions along the way. We use power diagrams, generalized Voronoi diagrams with additive weights, to identify the robot’s collision free convex neighborhood, and to generate the value of our proposed candidate solution vector field at any free configuration via evaluation of an associated convex ...