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

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Recapitulative Quadtree decomposition Original 1000x1000 image 100 seconds Mesh with 1400 vertices Trajectory using FM on the grid Trajectory using FM on the mesh DTSI LIST – DTSI – Service Robotique Interactive 05/02/008 26
Presentation overview I. Introduction to FM based trajectory planning II. Trajectory planning under directional constraints III. Trajectory planning under curvature constraints IV. Multiresolution FM based trajectory planning V. FM based trajectory planning in dynamic environments VI. Trajectory planning under visibility constraints DTSI LIST – DTSI – Service Robotique Interactive 05/02/008 27
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 and 10: Non-convex obstacles: dilatation +
Page 11 and 12: Application: 3D trajectory planning
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: T a i i Multiresolution FM based tr
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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