Such functions can be used to advantage for potential-field path planning, since they do not exhibit spurious local minima. Harmonic functions are shown here to have a number of properties which are essential to robotics applications.
Paths derived from harmonic functions are generally smooth.
Harmonic functions also offer a complete path planning algorithm. We show how a harmonic function can be used as the basis for a reactive admittance control. Such schemes allow incremental updating of the environment model. The graph only includes citing articles where the year of publication is known.