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  Research Fellows And Research Projects  
  Project abstracts can be viewed from the CD-ROM which is enclosed or the SMA website (http://www.sma.nus.edu.sg).  
     
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  CS Programme  
     
 
DR GILDARDO ANTE SANCHE
Expertise: Robotics and the Applications of Robotics Algorithms to computational biology
     
Randomized Motion Planning
     
Project Advisor
(Singapore)
:
Asst Prof David Hsu
     
Duration :
May 2004 to May 2006
     
 
 

Project Abstract:

Randomized motion planning techniques have proven to be useful in solving motion planning problems in environments with many degrees of freedom. However, it is well know that their performace degrades considerably in environments where there are narrow passages. In this project we try to investigate and propose some alternatives to alleviate this drawback. In particular, we have been working in Adaptive Hybrid Sampling. The main idea in that case is to combine automatically different component samplers which are chosen according to their observed performance. The results are encouraging. We are also working on a general representation of the geometry of the robot such that it could not only be used for collision checking purposes, but also to provide information for the planning algorithm.

 
     
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