{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1361137045476980352.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.1177/027836499101000604"}},{"identifier":{"@type":"URI","@value":"https://journals.sagepub.com/doi/pdf/10.1177/027836499101000604"}},{"identifier":{"@type":"NAID","@value":"30026157548"}}],"dc:title":[{"@value":"Robot Motion Planning: A Distributed Representation Approach"}],"description":[{"type":"abstract","notation":[{"@value":"<jats:p> We propose a new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space. A planner based on this approach has been implemented. This planner is consider ably faster than previous path planners and solves prob lems for robots with many more degrees of freedom (DOFs). The power of the planner derives both from the \"good\" properties of the potential function and from the efficiency of the techniques used to escape the local min ima of this function. The most powerful of these tech niques is a Monte Carlo technique that escapes local min ima by executing Brownian motions. The overall approach is made possible by the systematic use of distributed rep resentations (bitmaps) for the robot's work space and configuration space. We have experimented with the plan ner using several computer-simulated robots, including rigid objects with 3 DOFs (in 2D work space) and 6 DOFs (in 3D work space) and manipulator arms with 8, 10, and 31 DOFs (in 2D and 3D work spaces). Some of the most significant experiments are reported in this article. </jats:p>"}]}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1381137045476980352","@type":"Researcher","foaf:name":[{"@value":"Jérôme Barraquand"}],"jpcoar:affiliationName":[{"@value":"Robotics Laboratory Department of Computer Science Stanford University Stanford, California 94305"}]},{"@id":"https://cir.nii.ac.jp/crid/1381137045476980353","@type":"Researcher","foaf:name":[{"@value":"Jean-Claude Latombe"}],"jpcoar:affiliationName":[{"@value":"Robotics Laboratory Department of Computer Science Stanford University Stanford, California 94305"}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"02783649"},{"@type":"EISSN","@value":"17413176"}],"prism:publicationName":[{"@value":"The International Journal of Robotics Research"}],"dc:publisher":[{"@value":"SAGE Publications"}],"prism:publicationDate":"1991-12","prism:volume":"10","prism:number":"6","prism:startingPage":"628","prism:endingPage":"649"},"reviewed":"false","dc:rights":["https://journals.sagepub.com/page/policies/text-and-data-mining-license"],"url":[{"@id":"https://journals.sagepub.com/doi/pdf/10.1177/027836499101000604"}],"createdAt":"2007-03-05","modifiedAt":"2025-03-04","relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1360567184055962624","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@value":"Transformable multirotor with two-dimensional multilinks: modeling, control, and motion planning for aerial transformation"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001205270976384","@type":"Article","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Optimal Motion Trajectory Generation and Real-Time Trajectory Modification for an Industrial Robot Working in a Rectangular Space"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001205280076416","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Motion and Arrangement Planning for Self-Moving Trays in Human Supporting Production Cell “Attentive Workbench”"},{"@value":"作業者支援型セル生産システム“Attentive Workbench”のための自走式部品トレイの動作および配置の計画"},{"@language":"ja-Kana","@value":"サギョウシャ シエンガタ セル セイサン システム Attentive Workbench ノ タメ ノ ジソウシキ ブヒン トレイ ノ ドウサ オヨビ ハイチ ノ ケイカク"}]},{"@id":"https://cir.nii.ac.jp/crid/1390005822570874368","@type":"Article","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Planning to Flip Heavy Objects Considering Soft-Finger Contacts"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679701492992","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Special Issue: Robot Behavior. Model of Behavior. Model and Robot Behavior."},{"@value":"特集　ロボットの行動　行動モデル　モデルとロボット行動"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679703879040","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Randomized Planning for Multi-Fingered Hand Manipulation by Switching Contact Modes"},{"@value":"接触モードのスイッチングによる多指ハンドマニピュレーションのランダム計画"},{"@language":"ja-Kana","@value":"セッショク モード ノ スイッチング ニ ヨル タシ ハンドマニピュレーション ノ ランダム ケイカク"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282681333992192","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Motion Planning for Cooperative Transportation of a Large Object by Multiple Mobile Robots."},{"@value":"移動ロボット群による大型物体搬送計画"},{"@language":"ja-Kana","@value":"イドウ ロボットグン ニ ヨル オオガタ ブッタイ ハンソウ ケイカク"}]},{"@id":"https://cir.nii.ac.jp/crid/1390285697602353664","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Correspondence between Symbolic Information and Pattetn Information for Mobile Robot Navigation under Linguistic Instructions of a Route"},{"@language":"ja","@value":"移動ロボットによる言語的経路指示理解のための記号情報とパターン情報の対応付け"},{"@language":"ja-Kana","@value":"イドウ ロボット ニヨル ゲンゴテキ ケイロ シジ リカイ ノ タメ ノ キゴ"}]},{"@id":"https://cir.nii.ac.jp/crid/1520009410186116480","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@value":"幾何情報に基づくマニピュレータの動作計画"},{"@language":"ja-Kana","@value":"キカ ジョウホウ ニ モトズク マニピュレータ ノ ドウサ ケイカク"}]},{"@id":"https://cir.nii.ac.jp/crid/1520290883234429440","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@value":"接触モードのスイッチングに基づく多指ハンドによる包み込み把握の運動計画--ハイブリッドシステムの運動計画"},{"@language":"ja-Kana","@value":"セッショク モード ノ スイッチング ニ モトヅク タシ ハンド ニヨル ツツミ コミ ハアク ノ ウンドウ ケイカク ハイブリッド システム ノ ウンドウ ケイカク"}]},{"@id":"https://cir.nii.ac.jp/crid/1570854175850129792","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Rearrangement Planning of Multiple Movable Objects by a Mobile Robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1571417124641119872","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Learning reaching strategies through reinforcement for a sensor-based manipulator"}]},{"@id":"https://cir.nii.ac.jp/crid/1571417124767119744","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Algorithms for rough terrain trajectory planning"}]},{"@id":"https://cir.nii.ac.jp/crid/1572824499680986752","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Visibility-based probabilistic roadmaps for motion planning"}]},{"@id":"https://cir.nii.ac.jp/crid/1573387449630992384","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"A formulation for path planning of manipulators in complex environments by using adjacent configurations"}]},{"@id":"https://cir.nii.ac.jp/crid/1573950399701019648","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Sensor-based motion planning in three dimensions for a highly redundant snake robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1574231874915209984","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"ja","@value":"多自由度ハンドの中での物体の回転操作"},{"@language":"en","@value":"Rotation of an Object within a Multifingered Hand"}]},{"@id":"https://cir.nii.ac.jp/crid/1574231875012469888","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"The dynamic wave expansion neural network model for robot motion planning in time-varying environments"}]}],"dataSourceIdentifier":[{"@type":"CROSSREF","@value":"10.1177/027836499101000604"},{"@type":"CIA","@value":"30026157548"},{"@type":"CROSSREF","@value":"10.1299/jsdd.7.278_references_DOI_FweBozIJviz2eVDOx6IoccATgwg"},{"@type":"CROSSREF","@value":"10.1080/01691864.2016.1181006_references_DOI_FweBozIJviz2eVDOx6IoccATgwg"},{"@type":"CROSSREF","@value":"10.20965/ijat.2021.p0158_references_DOI_FweBozIJviz2eVDOx6IoccATgwg"}]}