Abstract: A method is presented for path planning after changes in task space. In one embodiment, the method is applied to planning a path for a robot arm. The method identifies areas in the configuration space which are affected by the changes in task space. Cost waves can then be repropagated in these affected areas to allow for planning in N dimensions and using space variant metrics. The method is also adapted to use in the presence of phantom obstacles.

Abstract: A method and apparatus for path planning are presented. Path planning involves propagating cost waves in a configuration space representation of a task space. A space variant metric and budding are used for cost wave propagation. The disclosed method and apparatus are readily adaptable to robots with n degrees of freedom.

Abstract: Maneuvers of a vehicle, in the presence of obstacles, are planned using a three-dimensional configuration space. Axes of the configuration space correspond to x and y coordinate locations of the rear differential of the vehicle and angle of the vehicle. The configuration space is filled with cost to goal and direction arrows values using an exhaustive search strategy. The direction arrows values point to a least cost path to a goal for the vehicle. The exhaustive search strategy involves searching a bow-tie shaped neighborhood of a goal state, and then a bow-tie shaped neighborhood of each state in the first neighborhood, iterating until all reachable states are searched. A precedence order is established so that states which are blocked are not searched.

Abstract: A method and apparatus for path planning are presented. Path planning involves propagating cost waves in a configuration space representation of a task space. A space variant metric and budding are used for cost wave propagation. The disclosed method and apparatus are readily adaptable to robots with n degrees of freedom.

Abstract: Configuration spaces, representing alternate possibilities for an environment in which an object is to move, are combined to create a probabilistic representation of all of the alternate possibilities. The probabilistic representation is used to plan optimal motion, with uncertainties being resolved at sensing points.

Abstract: Configuration spaces, representing alternate possibilities for an environment in which an object is to move, are combined to create a probabilistic representation of all of the alternate possibilities. The probabilistic representation is used to plan optimal motion, with uncertainties being resolved at sensing points.

Abstract: A method is presented for path planning after changes in task space. In one embodiment, the method is applied to planning a path for a robot arm. The method identifies areas in the configuration space which are affected by the changes in task space. Cost waves can then be repropagated in these affected areas to allow for planning in N dimensions and using space variant metrics. The method is also adapted to use in the presence of phantom obstacles.

Abstract: In order to provide smooth control a vehicle control method includes concatenating like-kind direction arrows in a configuration space. In addition, a stopping criterion is used to change a control signal in time to achieve stopping at a desired setpoint. To improve error recovery, control signals are changed in response to an error exceeding a predetermined limit.

Abstract: A separate user frame of reference is provided for the operator of an electron beam microscope to use in generating position and tilt commands for a motorized goniometer, rather than requiring that the operator input position and tilt commands to the motorized goniometer in the same frame of reference used by the goniometer to implement position and tilt changes. The electron beam image observed by the operator on a display screen furthermore forms the separate user frame of reference in order to make control of the specimen by the operator intuitive. Since the operator observes the user frame of reference and generates position and orientation commands in the user frame of reference, navigation around the sample is easy to accomplish, even for a novice operator. The image does not inadvertently rotate when other specimen movements are intended and an unintended modification in position along the beam axis does not occur for the imaged portion of the specimen unless the operator inputs such a modification.

Abstract: A configuration space is used for path planning and for controlling the motion of an object. The configuration space includes states which contain cost to goal and direction arrow values. These values indicate a path or absence of a path from the states to at least one goal state. The configuration space is differentially updated after a cost to goal or direction arrow value is changed.

Abstract: A method is presented for path planning after changes in task space. In one embodiment, the method is applied to planning a path for a robot arm. The method identifies areas in the configuration space which are affected by the changes in task space. Cost waves can then be repropagated in these affected areas to allow for planning in N dimensions and using space variant metrics. The method is also adapted to use in the presence of phantom obstacles.