<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>47</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Moll, Mark</style></author><author><style face="normal" font="default" size="100%">L. E. Kavraki</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Path Planning for Variable Resolution Minimal-Energy Curves of Constant Length</style></title><secondary-title><style face="normal" font="default" size="100%">Proc. 2005 IEEE Intl. Conf. on Robotics and Automation</style></secondary-title></titles><keywords><keyword><style  face="normal" font="default" size="100%">deformable parts</style></keyword><keyword><style  face="normal" font="default" size="100%">kavrakilab</style></keyword><keyword><style  face="normal" font="default" size="100%">kinodynamic/physics-based motion planning</style></keyword></keywords><dates><year><style  face="normal" font="default" size="100%">2005</style></year><pub-dates><date><style  face="normal" font="default" size="100%">April</style></date></pub-dates></dates><urls><web-urls><url><style face="normal" font="default" size="100%">http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1570428</style></url></web-urls></urls><publisher><style face="normal" font="default" size="100%">IEEE Press</style></publisher><pub-location><style face="normal" font="default" size="100%">Barcelona, Spain</style></pub-location><pages><style face="normal" font="default" size="100%">2143-2147</style></pages><language><style face="normal" font="default" size="100%">eng</style></language><abstract><style face="normal" font="default" size="100%">We present a new approach to path planning for flexible wires. We introduce a method for computing stable configurations of a wire subject to manipulation constraints. These configurations correspond to minimal-energy curves. The representation is adaptive in the sense that the number of parameters automatically varies with the complexity of the underlying curve. We introduce a planner that computes paths from one minimal-energy curve to another such that all intermediate curves are also minimal-energy curves. Using a simplified model for obstacles, we can find minimal-energy curves of fixed length that pass through specified tangents at given control points. Our work has applications in motion planning for surgical suturing and snake-like robots.</style></abstract><work-type><style face="normal" font="default" size="100%">inproceedings</style></work-type></record></records></xml>
