{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,12]],"date-time":"2024-09-12T04:30:30Z","timestamp":1726115430302},"reference-count":8,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":9291,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1983,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Minimum distance algorithms allow users of robot simulation programs to maneuver manipulation arms around and between workspace obstacles. Additionally, they can be used to generate configuration maps for path planning of the manipulator \u201cpoint\u201d through a more abstract configuration space. This paper summarizes an algorithm for determining minimum distances between two polyhedral elements. Examples of configuration space maps and Cartesian stepping techniques demonstrate algorithmic utility for robot path planning. A number of accelerating strategies which depend on a heirarchical spatial representation of manipulator and workspace elements maintain reasonable CPU times for the simulation user.<\/jats:p>","DOI":"10.1017\/s0263574700002162","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T09:28:57Z","timestamp":1236677337000},"page":"231-238","source":"Crossref","is-referenced-by-count":22,"title":["Minimum distances for robot task simulation"],"prefix":"10.1017","volume":"1","author":[{"given":"W. Edward","family":"Red","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700002162_ref008","unstructured":"8. Brooks R.A. , \u201cSolving the Find-Path Problem by Representing Free Space as Generalized Cones\u201d AI Memo No. 674, MIT Artificial Intelligence Laboratory 05, 1982)."},{"key":"S0263574700002162_ref006","unstructured":"6. Lozano-Perez T. , \u201cAutomatic Planning of Manipulator Transfer Movements\u201d AI Memo. No. 606, MIT Artificial Intelligence Laboratory (12, 1980)."},{"key":"S0263574700002162_ref004","unstructured":"4. Red W.E. , \u201cConfiguration Maps and Robot Task Planning in 3-D\u201d 1984 International Computers in Engineering Conference 07 12\u201316, 1984 Las Vegas, Nevada."},{"key":"S0263574700002162_ref003","doi-asserted-by":"crossref","unstructured":"3. Red W.E. and Truong-Cao H. V. , \u201cThe Configuration Space Approach to Robot Path Planning,\u201d 1984 American Control Conference 06 6\u20138, 1984 San Diego, California (paper accepted for publication).","DOI":"10.23919\/ACC.1984.4788391"},{"key":"S0263574700002162_ref005","unstructured":"5. Lozano-Perez T. , \u201cSpatial Planning: A Configuration Space Approach\u201d AL Memo No. 605, MIT Artificial Intelligence Laboratory (12, 1980)."},{"key":"S0263574700002162_ref007","doi-asserted-by":"crossref","unstructured":"7. Lozano-Perez T. and Wesley M.S. , \u201cAn Algorithm for Planning Collision-Free Paths Among Polyhedral Obstacles\u201d Communications of the ACM, 560\u2013570 (10, 1979).","DOI":"10.1145\/359156.359164"},{"key":"S0263574700002162_ref002","unstructured":"2. Kretch S.J. , \u201cRobotic Animation\u201d Mechanical Engineering, 32\u201335 (1982)."},{"key":"S0263574700002162_ref001","unstructured":"1. Derby S.J. , \u201cComputer Graphics Simulation Programs: A comparison\u201d Proceedings of the Conference on Robotics Research and Advanced Applications,ASME Winter Annual Meeting,Phoenix, Arizona, 11. 1\u201319 203\u2013211 (1982)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700002162","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,23]],"date-time":"2019-05-23T18:23:07Z","timestamp":1558635787000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700002162\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1983,10]]},"references-count":8,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1983,10]]}},"alternative-id":["S0263574700002162"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700002162","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1983,10]]}}}