We apply manipulation planning to computer animation. A new path planner is presented
that automatically computes the collision-free trajectories for several cooperating arms to …

This paper considers the automatic generation of motion paths for several cooperating robot
arms to manipulate a movable object between two configurations among obstacles. To …

In this paper, we address the problem of automatically generating motions for nonholonomic
systems consisting of tractors with trailers. The presented method generalizes an existing …

This paper presents a novel approach to path planning. It is a variational technique,
consisting of iteratively improving an initial path possibly colliding with obstacles. At each …

Establishes necessary and sufficient conditions under which manipulation constraints are
holonomic. Then the authors present a systematic approach to motion planning in the …

This dissertation considers the manipulation task planning problem of automatically
generating the trajectories for several cooperating robot arms to manipulate a movable …

Considers the motions of objects moved by manipulators that can only perform some
specific actions. These motions are fundamentally nonholonomic. They consist of a …

A general method for motion planning with geometric and kinematic constraints is
presented. It is based on a Progressive Constraints approach. A path satisfying only some of …

The path planning problem, ie, the geometrical problem of finding a collision-free path
between two given configurations of a robot moving among obstacles, has been studied by …