The use of 3-D sensing techniques for on-line collision-free path planning
Vincent Hayward, S. Aubry, Z. Jasiukajc · NASA Technical Reports Server (NASA) · 1987
The state of the art in collision prevention for manipulators with revolute joints, showing that it is a particularly computationally hard problem, is discussed. Based on the analogy with other hard or undecidable problems such as theorem proving, an extensible multi-resolution architecture for path planning, based on a collection of weak methods is proposed. Finally, the role that sensors can play for an on-line use of sensor data is examined.