My first talk

Title: Roadmap-Based Motion Planning in Dynamic Environments
Author: Jur P. van den Berg and Mark H. Overmars
From: IEEE TRANSACTIONS ON ROBOTICS, VOL. 21, NO. 5, OCTOBER 2005, p.885-897

Abstract:
In this paper, a new method is presented for motion
planning in dynamic environments, that is, finding a trajectory for
a robot in a scene consisting of both static and dynamic, moving obstacles.
We propose a practical algorithm based on a roadmap that
is created for the static part of the scene. On this roadmap, an approximately
time-optimal trajectory from a start to a goal configuration
is computed, such that the robot does not collide with any
moving obstacle. The trajectory is found by performing a two-level
search for a shortest path. On the local level, trajectories on single
edges of the roadmap are found using a depth-first search on an
implicit grid in state-time space. On the global level, these local
trajectories are coordinated using an A -search to find a global
trajectory to the goal configuration. The approach is applicable to
any robot type in configuration spaces with any dimension, and
the motions of the dynamic obstacles are unconstrained, as long as
they are known beforehand. The approach has been implemented
for both free-flying and articulated robots in three-dimensional
workspaces, and it has been applied to multirobot motion planning,
as well. Experiments show that the method achieves interactive
performance in complex environments.