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Abstract: This paper presents a state-space perspective on the kinodynamic planning problem, and introduces a randomized path planning technique that computes collision-free kinodynamic trajectories for high degreeof -freedom problems. By using a state space formulation, the kinodynamic planning problem is treated as a 2n-dimensional nonholonomic planning problem, derived from an n-dimensional con guration space. The state space serves the same role as the con guration space for basic path planning;... (Update)
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BibTeX entry: (Update)
S. M. LaValle and J. J. Ku ner. Randomized kinodynamic planning. In Proc. IEEE Int'l Conf. on Robotics and Automation, 1999. To appear. http://citeseer.ist.psu.edu/article/lavalle99randomized.html More
@inproceedings{ lavalle99randomized,
author = "S. La{V}alle and J. Ku",
title = "Randomized kinodynamic planning",
booktitle = "Proc. {IEEE} Int'l Conf. on Robotics and Automation",
note = "To appear.",
year = "1999",
url = "citeseer.ist.psu.edu/article/lavalle99randomized.html" }
Citations (may not include all citations):211 Robot motion planning: A distributed representation approach (context) - Barraquand, Latombe - 1991
86 Provably good approximation algorithms for optimal kinodynam.. - Donald, Xavier - 1995
77 A randomized roadmap method for path and manipulation planni.. - Amato, Wu - 1996
41 An exact algorithm for kinodynamic planning in the plane (context) - Canny, Rege et al. - 1991
23 A parallel formulation of informed randomized search for rob.. - Challou, Boley et al. - 1995
9 A hamiltonian framework for kinodynamic planning (context) - Connolly, Grupen et al. - 1995
7 Time-optimal control of robotic manipulators (context) - Bobrow, Dubowsky et al. - 1985
6 Steering three-input nonholonomic systems: The re-truck exam.. - Bushnell, Tilbury et al. - 1995
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