From 78a5af023c4dbb987465972ed765e110e45c150f Mon Sep 17 00:00:00 2001 From: Sterling McLeod Date: Tue, 14 Oct 2014 13:54:27 -0400 Subject: [PATCH] Added descriptions for new papers to the README --- robotics/README.md | 30 +++++++++++++++++++++++++++++- 1 file changed, 29 insertions(+), 1 deletion(-) diff --git a/robotics/README.md b/robotics/README.md index b6ff5f0..f6298b7 100644 --- a/robotics/README.md +++ b/robotics/README.md @@ -13,4 +13,32 @@ Robotics [Rapidly-Exploring Random Trees: A New Tool for Path Planning](http://msl.cs.uiuc.edu/~lavalle/papers/Lav98c.pdf) -[RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments](http://www.cs.washington.edu/robotics/postscripts/3d-mapping-iser-10-final.pdf) \ No newline at end of file +[RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments](http://www.cs.washington.edu/robotics/postscripts/3d-mapping-iser-10-final.pdf) + + + +Reasoning for the new papers: + +The dynamic window approach to collision avoidance is an influential +paper for mobile robots. The method is based on a robot's dynamics +rather than higher-level representations of a robot and/or obstacles in +an environment. + +The PRM and RRT algorithms are two seminal papers in robot motion +planning. The problem of motion planning scales exponentially with the +degrees of freedom a robot has and the degrees of freedom the obstacles +in an environment have. Thus, planning with high degrees of freedom leads to many problems +such as incompleteness and extremely slow speed. The PRM method was the first to +propose a sampling-based stratey to deal with motion planning and +created a practical methed for offline planning of robot manipulators. +The RRT method modified PRM by using a tree structure rather than a +graph so that non-holonomic and other constraints could be considered +when planning. + +The Instantaneous Trajectory Generation method is relatively new, but +very important. It allows for extremely fast trajectory generation for +robots of high degrees of freedom (motion states generated within 1 +millisecond). It has been used to implement robot sword fighting and +other activities that require fast reaction-based planning. The author +started a business based simply on the work and has shown the +algorithm's success in many robot applications.