{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/80711"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/80711","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"A Framework for Real-Time Path Planning in Changing Environments","abstract":"As part of our presentation, we discuss the construction of the roadmap, including how samples of the configuration space may be generated and how to connect the samples to form the roadmap. We then discuss the mapping from the workspace to the roadmap, explaining efficient techniques for its generation and representation. We continue with some robustness measures and how these may be used to enhance the robustness of the roadmap. We then present an extension of our method for mobile robots. 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