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Latombe, Jean-Claude

Overview
Works: 71 works in 155 publications in 3 languages and 887 library holdings
Genres: Conference proceedings 
Roles: Author, Thesis advisor, Editor
Classifications: TJ211, 629.892
Publication Timeline
Key
Publications about Jean-Claude Latombe
Publications by Jean-Claude Latombe
Most widely held works by Jean-Claude Latombe
Robot motion planning by Jean-Claude Latombe( Book )
28 editions published between 1990 and 2010 in 3 languages and held by 386 libraries worldwide
Artificial intelligence and pattern recognition in computer aided design : proceedings of the IFIP Working Conference, organized by Working Group 5.2, Computer-aided Design, Grenoble, France, March 17-19, 1978 by IFIP TC-5 Working Conference on Artificial Intelligence and Pattern Recognition in Computer Aided Design( Book )
5 editions published in 1978 in English and held by 212 libraries worldwide
Algorithmic foundations of robotics. selected contributions of the ninth International Workshop on the Algorithmic Foundations of Robotics by International Workshop on the Algorithmic Foundations of Robotics( file )
3 editions published between 2011 and 2014 in English and held by 22 libraries worldwide
Planning the motions of a mobile robot in a sensory uncertainty field by Haruo Takeda( Book )
5 editions published between 1992 and 1993 in English and held by 18 libraries worldwide
This paper describes in detail the computation of a SUF for a classical line-striping camera/laser range sensor. It presents an implemented SUF-based motion planner for a robot equipped with this sensor and analyzes experimental results produced with this planner. Finally, it discusses additional issues related to the SUF-based planning approach."
Landmark-based robot navigation by Anthony Lazanas( Book )
4 editions published in 1992 in English and held by 17 libraries worldwide
Abstract: "Achieving goals despite uncertainty in control and sensing may require robots to perform complicated motion planning and execution monitoring. This paper describes a reduced version of the general planning problem in the presence of uncertainty and a complete polynomial algorithm solving it. The planner computes a guaranteed plan (for given uncertainty bounds) by backchaining non-directional preimages of the goal until one fully contains the set of possible initial positions of the robot. The planner assumes that landmarks are scattered across the workspace, that robot control and sensing are perfect within the fields of influence of these landmarks, and that control is imperfect and sensing null outside these fields
New heuristic algorithms for efficient hierarchical path planning by Ding Zhu( Book )
5 editions published in 1989 in English and held by 15 libraries worldwide
One of the ultimate goals of robotics research is to create autonomous robots. Progress toward this goal requires advances in many domains, including automatic motion planning. The "basic problem" in motion planning is to construct a collision-free path for a moving object among fixed obstacles. Several approaches have been proposed, including cell decomposition, retraction, and potential field. Nevertheless, most existing planners still lack efficiency, or reliability, or both. In this paper, we consider one of the most popular approaches to path planning: hierarchical approximate cell decomposition. We propose a set of new algorithms for constructing more consistent and reliable path planners based on this general approach. These algorithms concern the hierarchical decomposition of the robot's configuration space into retangloid cells, and the search of the connectivity graphs built at each level of decomposition. We have implemented these algorithms in a path planner and experimented with this planner in various examples. Some are described in the paper. These experiments show that our planner is significantly faster than previous planners based on the same general approach
Elaboration d'un système pédagogique d'assistance à la conception en électrotechnique by Jean-Claude Latombe( Book )
7 editions published between 1972 and 2005 in French and Undetermined and held by 14 libraries worldwide
Controllability of mobile robots with kinematic constraints by Stanford University( Book )
5 editions published between 1990 and 1992 in English and held by 14 libraries worldwide
Abstract: "We address the controllability problem for robot systems subject to kinematic constraints on the velocity and its application to path planning. We show that the well-known Controllability Rank Condition Theorem is applicable to these systems when there are inequality constraints on the velocity in addition to equality constraints, and/or when the constraints are non-linear instead of linear. This allows us to infer a whole set of new results on the controllability of robotic systems subject to non-integrable kinematic constraints (called nonholonomic systems). A car with limited steering angle is one example of such a system
Robot motion planning : a distributed representation approach by J Barraquand( Book )
4 editions published in 1989 in English and held by 13 libraries worldwide
In this paper we propose a new approach for planning the motion of robotic systems among obstacles, which is based on a distributed representation of the world model. Within this approach, we designed and implemented a general purpose path planner with five new capabilities ... These capabilities are obtained through the systematic use of low-level distributed multiscale representations of the world. These representations allow to apply simple and powerful numerical techniques to geometrical and physical concepts. The approach is illustrated by several simulation examples, both with mobile robots and manipulator arms
Numerical potential field techniques for robot path planning by Jérôme Barraquand( Book )
4 editions published in 1989 in English and held by 12 libraries worldwide
We propose a new approach to robot path planning which consists of incrementally building a graph connecting the local minima of a potential function defined in the robot's configuration space and concurrently searching this graph until a goal configuration is attained. Unlike the so called 'global' path planning methods, this approach does not require an expensive computation step before the search for a path can actually start. On the other hand, it searches a graph that is usually much smaller than the graph searched by the so called 'local' methods. We describe a collection of specific techniques that allow to engineer various implementations of our path planning approach. The purpose of these techniques is to (1) construct 'good' potential fields and (2) efficiently escape their local minima (i.e., efficiently build the local minima graph). They are based on the use of multiscale pyramids of bitmap arrays for representing both the robot's workspace and configuration space. This distributed representation makes it possible to construct potential fields numerically, rather than analytically, in relation to other efficient numerical techniques. We have implemented these techniques in a path planner, which turns out to be both very fast and capable of handling many degrees of freedom. The planner has solved a variety of problems. Some of them are far beyond the capabilities of previously existing planners
Robot motion planning with uncertainty in control and sensing by Jean-Claude Latombe( Book )
3 editions published in 1989 in English and held by 11 libraries worldwide
On the complexity of partitioning an assembly by R. H Wilson( Book )
3 editions published in 1992 in English and held by 10 libraries worldwide
The proof applies equally when each part in the assembly is limited to a constant number of vertices; when rotations are allowed; when both subassemblies are required to be connected; and for assemblies in the plane where each part may consist of a number of unconnected polygons."
Reasoning about mechanical assembly by R. H Wilson( Book )
2 editions published in 1992 in English and held by 9 libraries worldwide
Abstract: "In which order can a product be assembled or disassembled? How many hands are required? How many degrees of freedom? What parts should be withdrawn to allow the removal of a specified subassembly? To answer such questions automatically, important theoretical issues in geometric reasoning must be addressed. This paper investigates the planning of assembly algorithms specifying (dis)assembly operations on the components of a product and the ordering of these operations. It also presents measures to evaluate the complexity of these algorithms and techniques to estimate the inherent complexity of a product
Motion planning in stereotaxic radiosurgery by A Schweikard( Book )
1 edition published in 1992 in English and held by 8 libraries worldwide
This paper describes a computer-based planner developed to assist the surgeon generate a satisfactory path, given the spatial distribution of the brain tissues obtained with medical imaging. Experimental results with the implemented planner are presented, including a comparison with manually generated paths. According to these results, automatic planning significantly improves energy deposition. It can also shorten the overall treatment, hence reducing the patient's pain and allowing the radiosurgery equipment to be used for more patients. Stereotaxic radiosurgery is an example of so-called 'bloodless surgery'. Computer-based planning techniques are expected to facilitate further development of this safer, less painful, and more cost-effective type of surgery."
Randomized preprocessing of configuration space for fast path planning by Lydia Kavraki( Book )
3 editions published in 1993 in English and held by 8 libraries worldwide
The approach is particularly attractive for many-dofs robots which have to perform many successive point-to-point motions in the same environment. It can also easily deal with environments where new obstacles are added."
Complexity of partitioning a planar assembly by Lydia Kavraki( Book )
2 editions published in 1993 in English and held by 7 libraries worldwide
These include: assemblies with parts of constant complexity, assemblies that can be completely separated to their parts by repeated partitioning, and assemblies of polyhedra."
Motion planning with uncertainty the preimage backchaining approach by Jean-Claude Latombe( Book )
3 editions published in 1988 in English and Undetermined and held by 7 libraries worldwide
Artificial intelligence and pattern recognition in computer aided design : proceedings of the IFIP Working Confernce by IFIP TC-5 Working Conference on Artificial Intelligence and Pattern Recognition in Computer Aided Design( Book )
3 editions published in 1978 in English and held by 7 libraries worldwide
On-line manipulation planning for two robot arms in a dynamic environment by Tsai-Yen Li( Book )
3 editions published in 1994 in English and held by 7 libraries worldwide
Abstract: "In a constantly changing and partially unpredictable environment, robot motion planning must be on-line. The planner receives a continuous flow of information about occurring events and generates new plans, while previously planned motions are being executed. This paper describes an on-line planner for two cooperating arms whose task is to grab parts of various types on a conveyor belt and transfer them to their respective goals while avoiding collision with obstacles. Parts arrive on the belt in random order, at any time. Both goals and obstacles may be dynamically changed. This scenario is typical of manufacturing cells serving machine-tools, assembling products, or packaging objects. The proposed approach breaks the overall planning problem into subproblems, each involving a low-dimensional configuration or configuration x time space, and orchestrates very fast primitives solving these subproblems. The resulting planner has been implemented and extensively tested in a simulated environment, as well as with a real dual-arm system. Its competitiveness has been evaluated against an oracle making (almost) the best decision at any one time; the results show that the planner compares extremely well."
Une application de l'intelligence artificielle à la conception assistée par ordinateur (TROPIC) by Jean-Claude Latombe( Book )
3 editions published between 1977 and 2008 in French and held by 6 libraries worldwide
 
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Languages
English (81)
French (9)
Spanish (1)
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