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A computational feasibility study of failure-tolerant path planning

dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorJamisola, Rodrigo S., author
dc.contributor.authorRoberts, Rodney G., author
dc.contributor.authorAmerican Nuclear Society, publisher
dc.description.abstractThis work considers the computational costs associated with the implementation of a failure-tolerant path planning algorithm proposed in [1]. The algorithm makes the following assumptions: a manipulator is redundant relative to its task, only a single joint failure occurs at any given time, the manipulator is capable of detecting a joint failure and immediately locks the failed joint, and the environment is static and known. The algorithm is evaluated on a three degree-of-freedom planar manipulator for a total of eleven thousand different scenarios, randomly varying the robot's start and goal positions and the number and locations of obstacles in the environment. Statistical data are presented related to the computation time required by the different steps of the algorithm as a function of the complexity of the environment.
dc.format.mediumborn digital
dc.format.mediumproceedings (reports)
dc.identifier.bibliographicCitationJamisola, Rodrigo S., Jr., Anthony A. Maciewjewski, and Rodney G. Roberts, A Computational Feasibility Study of Failure-Tolerant Path Planning, 10th International Conference on Robotics and Remote Systems for Hazardous Environments: March 28-31, 2004, Gainesville, Florida: 233-239.
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©2004 American Nuclear Society.
dc.rightsCopyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see
dc.titleA computational feasibility study of failure-tolerant path planning


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