{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,29]],"date-time":"2022-03-29T02:05:52Z","timestamp":1648519552473},"reference-count":15,"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":7830,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1987,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Computer simulation is a major tool in validation of robot motion planning systems, since, on the one hand, underlying theory of algorithms typically requires questionable assumptions and simplifications, and, on the other hand, experiments with hardware are necessarily limited by available resources and time. This is especially true when the motion planning system in question is based on sensor feedback and the generated trajectory is, therefore, unpredictable. This paper describes a simulation system ROPAS (for RObot PAth Simulation) for testing one approach \u2014 called Dynmic Path Planning (DPP) \u2014 to sensor-based robot collision avoidance in an environment with unknown obstacles. Using real time graphics animation of the motion planning system, the user can simulate the behavior of an autonomous vehicle or a robot arm manipulator with a fixed base. The overall structure of the system is described, and examples are presented.<\/jats:p>","DOI":"10.1017\/s0263574700016313","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:23:01Z","timestamp":1236691381000},"page":"291-302","source":"Crossref","is-referenced-by-count":10,"title":["Computer simulation of sensor-based robot collision avoidance in an unknown environment"],"prefix":"10.1017","volume":"5","author":[{"given":"K.","family":"Sun","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"V.","family":"Lumelsky","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700016313_ref001","doi-asserted-by":"publisher","DOI":"10.1002\/cpa.3160360305"},{"key":"S0263574700016313_ref002","first-page":"737","volume-title":"Proceedings of IJCAI\u20135","author":"Udupa","year":"1977"},{"key":"S0263574700016313_ref005","doi-asserted-by":"publisher","DOI":"10.1109\/PROC.1983.12684"},{"key":"S0263574700016313_ref007","doi-asserted-by":"crossref","unstructured":"7. Hopcroft J. , Joseph D. and Whitesides S. , \u201cOn the Movement of Robot Arms in 2-Dimensional Bounded Regions,\u201d Proc. of the IEEE Foundations of Computer Science Conference 280\u2013289, Chicago (11, 1982).","DOI":"10.1109\/SFCS.1982.29"},{"key":"S0263574700016313_ref010","first-page":"257","volume-title":"Proc. of the IFAC Symposium on Robot Control","author":"Lumelsky","year":"1985"},{"key":"S0263574700016313_ref012","doi-asserted-by":"crossref","unstructured":"12. Lumelsky V.J. , \u201cEffect of Kinematics on Dynamic Path Planning for Planar Robot Arms Moving Amidst Unknown Obstacles\u201d IEEE Journal of Robotics and Automation (to appear, 1987).","DOI":"10.1109\/JRA.1987.1087094"},{"key":"S0263574700016313_ref011","doi-asserted-by":"crossref","unstructured":"11. Lumelsky V.J. , \u201cDynamic Path Planning for a Planar Articulated Robot Arm Moving Amidst Unknown Obstacles\u201d Automatica (to appear, 1987).","DOI":"10.1016\/0005-1098(87)90051-3"},{"key":"S0263574700016313_ref006","doi-asserted-by":"publisher","DOI":"10.1016\/0196-8858(83)90014-3"},{"key":"S0263574700016313_ref013","volume-title":"Handbook of Mathematics","author":"Bronshtein","year":"1985"},{"key":"S0263574700016313_ref004","first-page":"190","article-title":"Solving the Find-Path Problem by Good Representation of Free Space","volume":"13","author":"Brooks","year":"1983","journal-title":"IEEE Transactions on Systems"},{"key":"S0263574700016313_ref003","first-page":"681","article-title":"Automatic Planning of Manipulator Transfer Movements","volume":"11","author":"Lozano-Perez","year":"1981","journal-title":"IEEE Transactions on Systems"},{"key":"S0263574700016313_ref008","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-1895-9_24"},{"key":"S0263574700016313_ref009","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1986.1104175"},{"key":"S0263574700016313_ref014","first-page":"41","volume-title":"Robot Manipulators","author":"Paul","year":"1981"},{"key":"S0263574700016313_ref015","doi-asserted-by":"publisher","DOI":"10.1109\/TC.1984.1676388"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700016313","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,20]],"date-time":"2019-05-20T21:27:48Z","timestamp":1558387668000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700016313\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,10]]},"references-count":15,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1987,10]]}},"alternative-id":["S0263574700016313"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700016313","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1987,10]]}}}