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2,283
Discrete Planning
"... This chapter provides introductory concepts that serve as an entry point into other parts of the book. The planning problems considered here are the simplest to describe because the state space will be finite in most cases. When it is not finite, it will at least be countably infinite (i.e., a uniqu ..."
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unique integer may be assigned to every state). Therefore, no geometric models or differential equations will be needed to characterize the discrete planning problems. Furthermore, no forms of uncertainty will be considered, which avoids complications such as probability theory. All models are completely
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 ..."
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Cited by 1133 (49 self)
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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
On the Topology of Discrete Planning with Uncertainty
, 2011
"... This paper explores the topology of planning with uncertainty in discrete spaces. The paper defines strategy complex as the collection of all plans for accomplishing all tasks specified by goal states in a finite discrete graph. Transitions in the graph may be nondeterministic or stochastic. One key ..."
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This paper explores the topology of planning with uncertainty in discrete spaces. The paper defines strategy complex as the collection of all plans for accomplishing all tasks specified by goal states in a finite discrete graph. Transitions in the graph may be nondeterministic or stochastic. One
Motion Planning in Dynamic Environments using Velocity Obstacles
- International Journal of Robotics Research
, 1998
"... Abstract!llis paper presents a new approach for rot)ot]notion planning in dynamic environ-ments, based on the concept of Velocity Obstacle.,4 velocity obstacle defines the set of robot velocities that would result in a collision between tlie robot and an obstacle mov-ing at a given velocity. The avo ..."
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Cited by 206 (6 self)
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Abstract!llis paper presents a new approach for rot)ot]notion planning in dynamic environ-ments, based on the concept of Velocity Obstacle.,4 velocity obstacle defines the set of robot velocities that would result in a collision between tlie robot and an obstacle mov-ing at a given velocity
Fast Computation of Generalized Voronoi Diagrams Using Graphics Hardware
, 1999
"... We present a new approach for computing generalized 2D and 3D Voronoi diagrams using interpolation-based polygon rasterization hardware. We compute a discrete Voronoi diagram by rendering a three dimensional distance mesh for each Voronoi site. The polygonal mesh is a bounded-error approximation of ..."
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Cited by 234 (26 self)
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We present a new approach for computing generalized 2D and 3D Voronoi diagrams using interpolation-based polygon rasterization hardware. We compute a discrete Voronoi diagram by rendering a three dimensional distance mesh for each Voronoi site. The polygonal mesh is a bounded-error approximation
Partially observable markov decision processes with continuous observations for dialogue management
- Computer Speech and Language
, 2005
"... This work shows how a dialogue model can be represented as a Partially Observable Markov Decision Process (POMDP) with observations composed of a discrete and continuous component. The continuous component enables the model to directly incorporate a confidence score for automated planning. Using a t ..."
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Cited by 217 (52 self)
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This work shows how a dialogue model can be represented as a Partially Observable Markov Decision Process (POMDP) with observations composed of a discrete and continuous component. The continuous component enables the model to directly incorporate a confidence score for automated planning. Using a
Discrete abstractions for robot motion planning and control in polygonal environments
- IEEE Transactions on Robotics
, 2005
"... In this paper, we present a computational framework for automatic generation of provably correct control laws for planar robots in polygonal environments. Using polygon triangulation and discrete abstractions, we map continuous motion planning and control problems specified in terms of triangles to ..."
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Cited by 58 (7 self)
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In this paper, we present a computational framework for automatic generation of provably correct control laws for planar robots in polygonal environments. Using polygon triangulation and discrete abstractions, we map continuous motion planning and control problems specified in terms of triangles
Temporal logic motion planning for mobile robots
- In Proceedings of the 2005 IEEE International Conference on Robotics and Automation
, 2005
"... Abstract — In this paper, we consider the problem of robot motion planning in order to satisfy formulas expressible in temporal logics. Temporal logics naturally express traditional robot specifications such as reaching a goal or avoiding an obstacle, but also more sophisticated specifications such ..."
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Cited by 53 (10 self)
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such as sequencing, coverage, or temporal ordering of different tasks. In order to provide computational solutions to this problem, we first construct discrete abstractions of robot motion based on some environmental decomposition. We then generate discrete plans satisfying the temporal logic formula using powerful
Real-Time Randomized Path Planning for Robot Navigation
, 2002
"... Mobile robots often find themselves in a situation where they must find a trajectory to another position in their environment, subject to constraints posed by obstacles and the capabilities of the robot itself. This is the problem of planning a path through a continuous domain, for which several app ..."
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Cited by 133 (23 self)
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Mobile robots often find themselves in a situation where they must find a trajectory to another position in their environment, subject to constraints posed by obstacles and the capabilities of the robot itself. This is the problem of planning a path through a continuous domain, for which several
Decomposition Techniques for Planning in Stochastic Domains
- IN PROCEEDINGS OF THE FOURTEENTH INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE (IJCAI-95
, 1995
"... This paper is concerned with modeling planning problems involving uncertainty as discrete-time, finite-state stochastic automata. Solving planning problems is reduced to computing policies for Markov decision processes. Classical methods for solving Markov decision processes cannot cope with the siz ..."
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Cited by 118 (7 self)
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This paper is concerned with modeling planning problems involving uncertainty as discrete-time, finite-state stochastic automata. Solving planning problems is reduced to computing policies for Markov decision processes. Classical methods for solving Markov decision processes cannot cope
Results 1 - 10
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2,283
