Obiettivo How can a robot decide what motions to carry out in order to achieve tasks in the physical world? This question is the theme of promotion. Today, the existing industrial robot programming systems still have limited motion planning capabilities. On the other hand, the field of robotics is growing: space exploration, undersea work, intervention in hazardous environments, etc. Motion planning appears as one of the components of the necessary autonomy of the robots in such real contexts.The research project is dedicated to theoretical and practical issues in robot motion planning. The main goal is to create a synergy between 4 disciplines (robotics, algebraic geometry, computational geometry and control theory) involved in motion planning in order to provide theoretically well founded methods that correspond to the motion planning issues in advanced robotics and its challenging real world applications. The project has provided 61 reports and generated some 20 software prototypes and experiments with a real robot. Almost all the reports correspond to accepted papers in the main conferences or journals in the domain. Real world applications include software simulating a delivery from a 3-dimensional model of pelvis and a foetal head, and an integrated algorithm planning the motions of the all terrain mobile robot ADAM.APPROACH AND METHODS Due to the richness of the topic, motion planning became part of several disciplines, most notably robotics, computer science and mathematics, and has been developed along quite different directions with only little interaction. The coherence and the originality of PROMOTION comes from its interdisciplinarity. PROMOTION takes advantage of a common knowledge and understanding of the different theoretical issues in order to extend the state of the art in the domain. The theoretical work undertaken under the present project will be aimed at solving concrete problems. Indeed, the high degree of versatility and autonomy required by advanced robotic applications constitutes a true challenge for the disciplines involved in motion planning. Theoretical studies in PROMOTION are mainly motivated by a practical efficiency. POTENTIAL Research in PROMOTION will provide methods and their prototype implementations which have the potential of becoming key components of recent programmes in advanced robotics (VAP - project managed by the French spatial agency CNES; I.ARES - European project Eureka S 896; MRT - French project 91 S 0290, supported by the French Ministry of Research and Technology; P.F. Robotica - project 91.01946.PF67 funded by the Italian National Research Council; MARTHA - ESPRIT project 6668). Campo scientifico natural sciencesphysical sciencesastronomyspace explorationnatural sciencescomputer and information sciencessoftwarenatural sciencesmathematicspure mathematicsgeometryengineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringroboticsnatural sciencesmathematicspure mathematicsalgebraalgebraic geometry Programma(i) FP3-ESPRIT 3 - Specific research and technological development programme (EEC) in the field of information technologies, 1990-1994 Argomento(i) Data not available Invito a presentare proposte Data not available Meccanismo di finanziamento Data not available Coordinatore Centre National de la Recherche Scientifique (CNRS) Contributo UE Nessun dato Indirizzo 7 avenue de Colonel Roche 31077 Toulouse Francia Mostra sulla mappa Costo totale Nessun dato Partecipanti (5) Classifica in ordine alfabetico Classifica per Contributo UE Espandi tutto Riduci tutto Institut National de Recherches en Informatique et en Automatique (INRIA) Francia Contributo UE Nessun dato Indirizzo Domaine de Voluceau Rocquencourt 78153 Le Chesnay Mostra sulla mappa Costo totale Nessun dato UNIVERSITAT POLITECNICA DE CATALUNYA Spagna Contributo UE Nessun dato Indirizzo AV. GREGORIO MARANON 08028 BARCELONA Mostra sulla mappa Costo totale Nessun dato UNIVERSITEIT VAN UTRECHT Paesi Bassi Contributo UE Nessun dato Indirizzo TRANS 14, BINNENSTAND 3512 JK UTRECHT Mostra sulla mappa Costo totale Nessun dato Università degli Studi di Roma La Sapienza Italia Contributo UE Nessun dato Indirizzo Piazzale Aldo Moro 5 00185 Roma Mostra sulla mappa Costo totale Nessun dato École Normale Supérieure Francia Contributo UE Nessun dato Indirizzo 24 rue Lhomond 75231 Paris Mostra sulla mappa Costo totale Nessun dato
