Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  present a parallel Cartesian planning algorithm for redundant robot arms and manipulators.  pre-compute a roadmap, that takes into account static obstacles in the environment as ll as singular configurations. At runtime, multiple paths in this roadmap are computed as initial trajectories for an optimization-based planner that tends to satisfy various constraints corresponding to demands on the trajectory, including end-effector constraints, collision-free, and non-singular.  highlight and compare the performance of our parallel planner using 7-DOF arms with other planning algorithms. To the best of our knowledge, this is the first approach that can compute smooth and collision-free trajectories in complex environments with dynamic obstacles.
['Charles Park', 'F. Rabe', 'S. Sharma', 'Christian Scheurer', 'Uwe Zimmermann', 'Dinesh Manocha']
I am writing a research paper on a idea Parallel cartesian planning in dynamic environments using constrained trajectory planning
[{"from": "human", "value": "I am writing a research paper on a idea Parallel cartesian planning in dynamic environments using constrained trajectory planning"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  present a parallel Cartesian planning algorithm for redundant robot arms and manipulators.  pre-compute a roadmap, that takes into account static obstacles in the environment as ll as singular configurations. At runtime, multiple paths in this roadmap are computed as initial trajectories for an optimization-based planner that tends to satisfy various constraints corresponding to demands on the trajectory, including end-effector constraints, collision-free, and non-singular.  highlight and compare the performance of our parallel planner using 7-DOF arms with other planning algorithms. To the best of our knowledge, this is the first approach that can compute smooth and collision-free trajectories in complex environments with dynamic obstacles."}]