Spatial and temporal path planning

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dc.contributor.authorSlack, Marc G.en
dc.contributor.departmentComputer Scienceen
dc.date.accessioned2014-03-14T21:34:59Zen
dc.date.adate2010-04-27en
dc.date.available2014-03-14T21:34:59Zen
dc.date.issued1987en
dc.date.rdate2010-04-27en
dc.date.sdate2010-04-27en
dc.description.abstractFor robots to move out of the lab and into the real-world, they must be able to plan routes not only through space but through time as well. The introduction of a time factor to the planning process implies that robots must reason about other processes and agents that move through space independently of the robot's actions. This thesis presents an integrated route planner and spatial representation system for planning real-time paths through dynamic domains called Robonav. Robonav will find the safest 9 most efficient route through time and space as described by an evaluation function. Due to the design of the spatial representation and the mechanics of the algorithm, Robonav has an isomorphic mapping onto a machine with a highly parallel SIMD architecture. When Robonav is operated in a predictable domain, paths are found in O(p) time (where p is the length of a path). In unpredictable domains, where Robonav is operated in incremental mode, paths are found and executed in O(p²) time.en
dc.description.degreeMaster of Scienceen
dc.format.extentvi, 58 leavesen
dc.format.mediumBTDen
dc.format.mimetypeapplication/pdfen
dc.identifier.otheretd-04272010-020255en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-04272010-020255/en
dc.identifier.urihttp://hdl.handle.net/10919/42332en
dc.publisherVirginia Techen
dc.relation.haspartLD5655.V855_1987.S583.pdfen
dc.relation.isformatofOCLC# 16810871en
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subject.lccLD5655.V855 1987.S583en
dc.subject.lcshPath analysis (Statistics)en
dc.subject.lcshRoboticsen
dc.titleSpatial and temporal path planningen
dc.typeThesisen
dc.type.dcmitypeTexten
thesis.degree.disciplineComputer Scienceen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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