{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T21:38:44Z","timestamp":1762033124498},"reference-count":23,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2013,6,11]],"date-time":"2013-06-11T00:00:00Z","timestamp":1370908800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2013,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574713000489_inline2\" \/><jats:tex-math>${\\EuScript C}$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574713000489_inline3\" \/><jats:tex-math>${\\EuScript O}$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>. We define a varying potential field<jats:italic>f<\/jats:italic>on \u2202<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574713000489_inline3\" \/><jats:tex-math>${\\EuScript O}$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>as a Morse function and follow<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574713000489_inline1\" \/><jats:tex-math>$\\vec{\\nabla} f$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>. We then exemplify our algorithm on a redundant worm climbing robot with<jats:italic>n<\/jats:italic>degrees of freedom and compare our algorithm running results with those of the PRM.<\/jats:p>","DOI":"10.1017\/s0263574713000489","type":"journal-article","created":{"date-parts":[[2013,6,11]],"date-time":"2013-06-11T11:15:52Z","timestamp":1370949352000},"page":"1327-1335","source":"Crossref","is-referenced-by-count":31,"title":["A real-time motion planning algorithm for a hyper-redundant set of mechanisms"],"prefix":"10.1017","volume":"31","author":[{"given":"Nir","family":"Shvalb","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Boaz Ben","family":"Moshe","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oded","family":"Medina","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2013,6,11]]},"reference":[{"key":"S0263574713000489_ref18","doi-asserted-by":"crossref","DOI":"10.1515\/9781400881802","volume-title":"Morse Theory","author":"Milnor","year":"1963"},{"key":"S0263574713000489_ref17","doi-asserted-by":"publisher","DOI":"10.1145\/1015706.1015769"},{"key":"S0263574713000489_ref10","first-page":"365","article-title":"Motion planning for humanoid robots","volume":"21","author":"Kuffner","year":"2005","journal-title":"Robot. 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