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1,691
Modeling Dynamic Scenarios for Local Sensor-Based Motion Planning
"... This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information with a sensor-based motion planning system. The contribution in the modeling aspect is a formulation of the detection and tracking of mobile objects and the mapping of the static structu ..."
Abstract
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Cited by 14 (10 self)
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This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information with a sensor-based motion planning system. The contribution in the modeling aspect is a formulation of the detection and tracking of mobile objects and the mapping of the static
Planning Algorithms
, 2004
"... This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning ..."
Abstract
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Cited by 1133 (49 self)
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, planning under uncertainty, sensor-based planning, visibility, decision-theoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.
Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces
- IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
, 1996
"... A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edg ..."
Abstract
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Cited by 1277 (120 self)
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A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose
Robot Motion Planning: A Distributed Representation Approach
, 1991
"... We propose a new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot’s configuration space. A planner based on this approach has been implemented. This planner is considerably faster than previous ..."
Abstract
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Cited by 402 (26 self)
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We propose a new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot’s configuration space. A planner based on this approach has been implemented. This planner is considerably faster than previous
Active Sensing In Sensor-Based Motion Planning With Dynamics
, 2000
"... This paper studies active sensing strategies for an autonomous wheeled mobile robot moving on a flat surface among unknown static obstacles. The robot is defined by its geometry, its dynamic motion equations and a control policy. The latter comes from a path planning algorithm which produces changin ..."
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Cited by 1 (1 self)
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changing intermediate goal coordinates to pursue, and motoring signals based on local information. We want to know which is the (minimum) area we need to explore with the robot sensors in order to guarantee that a certain intended motoring signal is safe. The proposed solution depends on a) the sensor
Localization And Planning In Sensor-Based Navigation For Mobile Robots
, 1998
"... Most approaches to automatic motion planning can be classified depending on the amount of information available to the robot each planning period. In the paradigm of motion planning with incomplete information, only a subset of the work environment is known by the robot each instant as given by i ..."
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by its sensors, and no other previous knowledge of it is supposed. This is called Sensor--Based Motion Planning (SBMP). As the basic model of SBMP assumes no errors in localization, this paper address the question of what is the effect of position estimation errors in these algorithms performance. We
Incremental, Sensor-Based Motion Generation for Mobile Manipulators in Unknown, Dynamic Environments
"... Abstract—We present an incremental method for motion generation in environments with unpredictably moving and initially unknown obstacles. The key to the method is its incremental nature: it locally augments and adapts global motion plans in response to changes in the environment, even if they signi ..."
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if they significantly change the connectivity of the world. The restriction to local changes to a global plan results from the fact that in mobile manipulation, robots can ultimately only rely on their on-board sensors to perceive changes in the world. The proposed method addresses three sub-problems of motion
Where’s waldo? sensor-based temporal logic motion planning
- in IEEE International Conference on Robotics and Automation, 2007
, 2007
"... Abstract — Given a robot model and a class of admissible environments, this paper provides a framework for automatically and verifiably composing controllers that satisfy high level task specifications expressed in suitable temporal logics. The desired task specifications can express complex robot b ..."
Abstract
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Cited by 67 (9 self)
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behaviors such as search and rescue, coverage, and collision avoidance. In addition, our framework explicitly captures sensor specifications that depend on the environment with which the robot is interacting, resulting in a novel paradigm for sensor-based temporal logic motion planning. As one robot is part
Optimal and efficient path planning for partially-known environments
- In IEEE Int’l. Conference on Robotics and Automation
, 1994
"... The task of planning trajectories for a mobile robot has received considerable attention in the research literature. Most of the work assumes the robot has a complete and accurate model of its environment before it begins to move; less attention has been paid to the problem of partially known enviro ..."
Abstract
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Cited by 281 (36 self)
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environments. This situation occurs for an exploratory robot or one that must move to a goal location without the benejit of ajloorplan or terrain map. Existing approaches plan an initial path based on known information and then modijj the plan locally or replan the entire path as the robot discovers obstacles
Results 1 - 10
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1,691
