@article{3f640154f38246dfb2a092247636488d,
title = "Multivalued distance maps for motion planning on surfaces with moving obstacles",
abstract = "This paper presents a new algorithm for planning the time-optimal motion of a robot traveling with limited velocity from a given location to a given destination on a surface in the presence of moving obstacles. Additional constraints such as space variant terrain traversability and fuel economy can be accommodated. A multivalued distance map is defined and applied in computing optimal trajectories. The multivalued distance map incorporates constraints imposed by the moving obstacles, surf ace topography, and terrain traversability. It is generated by an efficient numerical curve propagation technique.",
keywords = "Front propagation, Level sets, Moving obstacles, Multivalued distance map, Path planning",
author = "Ron Kimmel and Nahum Kiryati and Bruckstein, \{Alfred M.\}",
note = "Funding Information: Manuscript received January 1, 1996; revised December 5, 1997. This work was supported in part by the Applied Mathematics Subprogram of the Office of Energy Research under Grant DE-AC03-76SFOOO98 and ONR Grant NOOO14-96-1-0381. This paper was recommended for publication by Associate Editor R. Chatila and Editor A. Goldenberg upon evaluation of the reviewers{\textquoteright} comments. The authors are with Technion, Haifa 32000, Israel. Publisher Item Identifier S 1042-296X(98)02919-X.",
year = "1998",
doi = "10.1109/70.678452",
language = "אנגלית",
volume = "14",
pages = "427--436",
journal = "IEEE Transactions on Robotics and Automation",
issn = "1042-296X",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "3",
}