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IEEE Robotics and Automation Letters, 2018
While predictive planning approaches have had broad success in robot navigation, most implementations of them have important limitations. In particular, they plan around a single predicted outcome (plus uncertainty) or the union of several likely outcomes. Here, we introduce the multiworld motion planning problem, where a robot plans around each likely
Bobby Davis +2 more
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While predictive planning approaches have had broad success in robot navigation, most implementations of them have important limitations. In particular, they plan around a single predicted outcome (plus uncertainty) or the union of several likely outcomes. Here, we introduce the multiworld motion planning problem, where a robot plans around each likely
Bobby Davis +2 more
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Communications on Pure and Applied Mathematics, 1995
AbstractWe survey recent developments in algorithmic motion planning in robotics. © 1996 John Wiley & Sons, Inc.
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AbstractWe survey recent developments in algorithmic motion planning in robotics. © 1996 John Wiley & Sons, Inc.
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SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483), 2004
This paper addresses the problem of kinodynamic motion planning for a non-holonomic bicycle system moving on a 2D plane in minimum time. As a solution to this optimization problem, we propose an algorithm for determining feed-forward control values, which in the absence of disturbances and uncertainties, provide a plan to move a system from an initial ...
A. Rosiglioni, M. Simina
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This paper addresses the problem of kinodynamic motion planning for a non-holonomic bicycle system moving on a 2D plane in minimum time. As a solution to this optimization problem, we propose an algorithm for determining feed-forward control values, which in the absence of disturbances and uncertainties, provide a plan to move a system from an initial ...
A. Rosiglioni, M. Simina
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2014
The design of an adaptive servo controller for tracking variable references in a distributed collector solar field is addressed. The structure proposed is made of three main blocks that consist of a motion planner, an incremental controller, and an adaptation mechanism. The motion planner selects the time profile of the manipulated variable (fluid flow)
João M. Lemos +2 more
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The design of an adaptive servo controller for tracking variable references in a distributed collector solar field is addressed. The structure proposed is made of three main blocks that consist of a motion planner, an incremental controller, and an adaptation mechanism. The motion planner selects the time profile of the manipulated variable (fluid flow)
João M. Lemos +2 more
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2018
Mobile robots are increasingly being deployed in the real world in response to a heightened demand for applications such as transportation, delivery and inspection. The motion planning systems for these robots are expected to have consistent performance across the wide range of scenarios that they encounter.
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Mobile robots are increasingly being deployed in the real world in response to a heightened demand for applications such as transportation, delivery and inspection. The motion planning systems for these robots are expected to have consistent performance across the wide range of scenarios that they encounter.
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2014
This last chapter addresses one of the most basic control issue: how to construct a control law steering a control system from a given state to another one? This problem is known as the motion planning problem. In the case of nonholonomic systems it can be solved exactly for specific classes of systems, in particular for nilpotent systems (Sect.
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This last chapter addresses one of the most basic control issue: how to construct a control law steering a control system from a given state to another one? This problem is known as the motion planning problem. In the case of nonholonomic systems it can be solved exactly for specific classes of systems, in particular for nilpotent systems (Sect.
openaire +1 more source