@inproceedings{f1174ec696de426a82d50140822fed6e,
title = "Planning safe cyclic motions under repetitive task constraints",
abstract = "We consider motion planning in the presence of obstacles for redundant robotic systems subject to repetitive task constraints. For this open problem, we present a novel control-based randomized planner which produces cyclic, collision-free paths in configuration space and guarantees continuous satisfaction of the task constraints. In particular, the proposed algorithm relies on bidirectional search and loop closure in the task-constrained configuration space. Planning experiments on a simple 3R planar robot and the KUKA LWR-IV 7-dof manipulator are reported to show the effectiveness of the proposed method.",
author = "Massimo Cefalo and Giuseppe Oriolo and Marilena Vendittelli",
year = "2013",
month = oct,
day = "17",
doi = "10.1109/ICRA.2013.6631112",
language = "English",
isbn = "9781467356411",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3807--3812",
booktitle = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013",
address = "United States",
note = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013 ; Conference date: 06-05-2013 Through 10-05-2013",
}