@inproceedings{736e01dbf4c544848d06c6c864c809c3,
title = "A hierarchical-orthogonal-space approach to collision-free path planning",
abstract = "We present a methodology for 3-D collision-free path planning in which planning is done in the 3-orthogonal 2-D projections of a 3-D environment. Suboptimal path searching is done in each of the 3 orthogonal 2-D sub-spaces using primitive path segments. A hierarchical path searching method is introduced to speed up the search process. This approach lends applications to spatial planning in environments where no a priori knowledge is assumed. The three orthogonal 2-D projections can be readily obtained from 3 orthogonal cameras in simple environments.",
author = "Wong, {E. K.} and Fu, {K. S.}",
note = "Funding Information: This work was supported by the NSF Grant ECS 81-19886.; 2nd IEEE International Conference on Robotics and Automation, ICRA 1985 ; Conference date: 25-03-1985 Through 28-03-1985",
year = "1985",
doi = "10.1109/ROBOT.1985.1087273",
language = "English (US)",
isbn = "0818606150",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "506--511",
booktitle = "Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985",
}