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    This article has been cited by the following publications. This list is generated based on data provided by CrossRef.

    Medina, Oded Shapiro, Amir and Shvalb, Nir 2016. Minimal Actuation for a Flat Actuated Flexible Manifold. IEEE Transactions on Robotics, Vol. 32, Issue. 3, p. 698.

    Peidró, Adrián Gil, Arturo Marín, José María Berenguer, Yerai and Reinoso, Óscar 2016. Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers.

    Medina, Oded Shapiro, Amir and Shvalb, Nir 2015. Motion planning for an actuated flexible polyhedron manifold. Advanced Robotics, Vol. 29, Issue. 18, p. 1195.


A real-time motion planning algorithm for a hyper-redundant set of mechanisms

  • Nir Shvalb (a1), Boaz Ben Moshe (a2) and Oded Medina (a3)
  • DOI:
  • Published online: 11 June 2013

We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space ${\EuScript C}$. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace ${\EuScript O}$. We define a varying potential field f on ∂${\EuScript O}$ as a Morse function and follow $\vec{\nabla} f$. We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.

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  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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