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The Ariadne's Clew Algorithm

Abstract : We present a new approach to path planning, called the Ariadne's clew algorithm. It is designed to find paths in high-dimensional continuous spaces and applies to robots with many degrees of freedom in static, as well as dynamic environments --- ones where obstacles may move. The Ariadne's clew algorithm comprises two sub-algorithms, called SEARCH and EXPLORE, applied in an interleaved manner. EXPLORE builds a representation of the accessible space while SEARCH looks for the target. Both are posed as optimization problems. We describe a real implementation of the algorithm to plan paths for a six degrees of freedom arm in a dynamic environment where another six degrees of freedom arm is used as a moving obstacle. Experimental results show that a path is found in about one second without any pre-processing.
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https://hal.inria.fr/inria-00356708
Contributor : Christian Laugier <>
Submitted on : Wednesday, January 28, 2009 - 11:59:11 AM
Last modification on : Monday, July 12, 2021 - 4:04:01 PM

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  • HAL Id : inria-00356708, version 1

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Emmanuel Mazer, Juan-Manuel Ahuactzin, Pierre Bessiere. The Ariadne's Clew Algorithm. Journal of Artificial Intelligence Research, Association for the Advancement of Artificial Intelligence, 1998, 9, pp.295-316. ⟨inria-00356708⟩

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