Tutorial on Fast Marching Method - Robotics Algorithms & Motion ...

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Application: harbour obstructed by a net Harbour 2D simulation Distance map computation Gradient descent computation DTSI LIST – DTSI – Service Robotique Interactive 05/02/008 10
Application: 3D trajectory planning 3D optimal trajectory using 3D Fast Marching algorithm DTSI LIST – DTSI – Service Robotique Interactive 05/02/008 11
Page 1 and 2: Tutorial on Fast M
Page 3 and 4: Costs Introduction: a short story
Page 5 and 6: Some demos (priority queue) … DTS
Page 7 and 8: A* versus FM* 100 90 80 70 60 50 40
Page 9: Non-convex obstacles: dilatation +
Page 13 and 14: j Anisotropic Fast Marching: theory
Page 15 and 16: Anisotropic Fast Marching: simulati
Page 17 and 18: Presentation overview I. Introducti
Page 19 and 20: Trajectory planning under curvature
Page 21 and 22: Lower bounds on the curvature radiu
Page 23 and 24: Operations: Multiresolution FM base
Page 25 and 26: T a i i Multiresolution FM based tr
Page 27 and 28: Presentation overview I. Introducti
Page 29 and 30: Dynamic replanning: video of trials
Page 31 and 32: Trajectory planning under visibilit
Page 33 and 34: Trajectory planning under visibilit
Page 35 and 36: References on chapter 1 • E. W. D
Page 37 and 38: References on chapter 3 • L. D. C
Page 39 and 40: References on chapter 5 • R. Phil
Page 41: Main sources • C. Pêtrès, Y. Pa

Tutorial on Fast Marching Method - Robotics Algorithms & Motion ...

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