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Latombe, Jean-Claude

Works: 73 works in 183 publications in 3 languages and 981 library holdings
Genres: Conference papers and proceedings 
Roles: Author, Editor, Thesis advisor, Opponent
Classifications: TJ211.4, 629.892
Publication Timeline
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 )
31 editions published between 1990 and 2010 in 3 languages and held by 388 libraries worldwide
One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical interest in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, assistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad usefulness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in automated reasoning, perception and control. It raises many important problems. One of them -- motion planning -- is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its own motions
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 )
13 editions published between 1978 and 2000 in English and held by 226 libraries worldwide
Planning the motions of a mobile robot in a sensory uncertainty field by Haruo Takeda( Book )
6 editions published between 1992 and 1993 in English and held by 19 libraries worldwide
This paper describes in detail the computation of a specific SUF for a mobile robot equipped with a classical line-striping camera/laser range sensor. It presents an implemented SUF-based motion planner for this robot and shows paths generated by this planner. Navigation experiments were conducted with mobile robots using paths generated by the SUF-based planner and other paths. The former paths were tracked with greater precision than the others. The final section of the paper discusses additional research issues related to SUF-based planning."
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
Algorithmic foundations of robotics IX : selected contributions of the ninth International Workshop on the Algorithmic Foundations of Robotics by David Hsing-Sheng Hsu( Book )
6 editions published between 2010 and 2014 in English and held by 15 libraries worldwide
Robotics is at the cusp of dramatic transformation. Increasingly complex robots with unprecedented autonomy are finding new applications, from medical surgery, to construction, to home services. Against this background, the algorithmic foundations of robotics are becoming more crucial than ever, in order to build robots that are fast, safe, reliable, and adaptive. Algorithms enable robots to perceive, plan, control, and learn. The design and analysis of robot algorithms raise new fundamental questions that span computer science, electrical engineering, mechanical engineering, and mathematics. These algorithms are also finding applications beyond robotics, for example, in modeling molecular motion and creating digital characters for video games and architectural simulation. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a highly selective meeting of leading researchers in the field of robot algorithms. Since its creation in 1994, it has published some of the field{u2019}s most important and lasting contributions. This book contains the proceedings of the 9th WAFR, held on December 13-15, 2010 at the National University of Singapore. The 24 papers included in this book span a wide variety of topics from new theoretical insights to novel applications
Robot motion planning : a distributed representation approach by Jérôme Barraquand( Book )
5 editions published in 1989 in English and held by 14 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: (1) It is able to generate very complex motions for robots with many degrees of freedom. In particular, we succeeded in generating complex paths for a 10 DOF non-serial manipulator arm made with both revolute and prismatic joints. (2) It is drastically faster (between 1 and 2 orders of magnitude) than existing systems on a sequential computer. We generated complex paths for a 3 DOF bar in a 2D workspace in about 1 second on a MIPS-based workstations, as opposed to minutes or even tens of minutes for other algorithms. The planner outputs a path for the robot in configuration space, while the goal is specified in operational space. Hence, the inverse kinematic problem is completely avoided. Furthermore, any kind of redundancy of the robot arms can be handled without modification
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 13 libraries worldwide
Controllability of mobile robots with kinematic constraints by Jérôme Barraquand( Book )
5 editions published between 1990 and 1992 in English and held by 13 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 with uncertainty in control and sensing by Jean-Claude Latombe( Book )
3 editions published in 1989 in English and held by 11 libraries worldwide
In this paper, we consider the problem of planning motion strategies in the presence of uncertainty in both control and sensing for simple robots described in a two dimensional configuration space. We consider the preimage backchaining approach to this problem. which was first proposed by Lozano-Perez. Mason and Taylor (1984). Although attractive, the approach raises several difficult computational issues. One of them, which is directly addressed in this paper. is preimage computation. We describe two practical methods for computing preimages, which we call backprojection from sticking edges and backprojection from goal kernel. Also discussed non-implemented improvements of this planner and additional results
Numerical potential field techniques for robot path planning by Jérôme Barraquand( Book )
4 editions published in 1989 in English and held by 11 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 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 bit map 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 the them are far beyond the capabilities of previously existing planners
Reasoning about mechanical assembly by Reginald H Wilson( Book )
3 editions published in 1992 in English and held by 10 libraries worldwide
The central concept underlying these planning and complexity evaluation techniques is that of a 'non-directional blocking graph', a qualitative representation of the internal structure of an assembly product. This representation is obtained by identifying physical criticalities where interferences among parts change. It is generated from an input geometric description of the product. The main application considered in the paper is the creation of smart environments to help designers create products that are easier to manufacture and service. Other possible applications include planning for rapid prototyping and autonomous robots."
On the complexity of partitioning an assembly by Reginald H Wilson( Book )
3 editions published in 1992 in English and held by 9 libraries worldwide
Abstract: "We consider the following problem that arises in assembly planning: given an assembly, identify a subassembly that can be removed as a rigid object without disturbing the rest of the assembly. This is called the assembly partitioning problem. Polynomial-time solutions have been presented when the motions allowed for the separation are of certain restricted types. We show that for assemblies of polyhedra, the partitioning problem for arbitrary sequences of translations is NP- complete. The reduction is from 3-SAT
Motion planning in stereotaxic radiosurgery by Achim Schweikard( Book )
2 editions published in 1992 in English and held by 9 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 )
4 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."
Motion planning with uncertainty : the preimage backchaining approach by Jean-Claude Latombe( Book )
4 editions published in 1988 in English and Undetermined and held by 8 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."
Complexity of partitioning a planar assembly by Lydia Kavraki( Book )
2 editions published in 1993 in English and held by 7 libraries worldwide
Abstract: "We consider the following problem from assembly planning: given a planar assembly of polygons, decide if there is a subassembly that can be moved in the plane as a rigid body, and separated from the rest of the assembly without disturbing the other parts of the assembly. We prove that this problem is NP-complete when the polygons of the assembly can translate, and when they can both translate and rotate. The same complexity result is also shown for a planar assembly consisting of parts whose vertices are constrained to lie on a grid, whose angles are right, and which are allowed to translate in the horizontal and vertical directions only by grid increments. We finally discuss some variants of the problem that are also NP-complete
Une application de l'intelligence artificielle à la conception assistée par ordinateur (TROPIC) by Jean-Claude Latombe( Book )
2 editions published in 1977 in French and held by 5 libraries worldwide
ControlShell: A Real-Time Software Framework ( Book )
5 editions published between 1992 and 1995 in English and held by 1 library worldwide
We are creating a new paradigm for building and maintaining complex real-time software systems for the control of moving mechanical systems. This objective is being met through the simultaneous development of both a powerful software environment and cogent motion planning and control capabilities. Our research concentrates on three key areas: Building an innovative, powerful real- time software framework, 9 Implementing new distributed control architectures for intelligent mechanical systems, and 9 Developing distribution architectures and new algorithms for the computationally hard motion planning and direction problem. Perhaps more importantly, we are working on the vertical integration of these technologies into a powerful, working system. It is only through this coordinated, cooperative approach that a truly revolutionary, usable architecture can result
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English (103)
French (8)
Spanish (1)
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