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Kinodynamic RRT*: Asymptotically optimal motion planning for robots with linear dynamics

Dustin J. Webb, Jur van den Berg
2013 2013 IEEE International Conference on Robotics and Automation  
We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear dynamics.  ...  Our approach generalizes earlier work on RRT* for kinodynamic systems, as it guarantees asymptotic optimality for any system with controllable linear dynamics, in state spaces of any dimension.  ...  DISCUSSION, CONCLUSION, AND FUTURE WORK We have presented Kinodynamic RRT*, an incremental sampling-based approach that extends RRT* for asymptotically optimal motion planning for robots with linear differential  ... 
doi:10.1109/icra.2013.6631299 dblp:conf/icra/WebbB13 fatcat:dz2ufptwwfeznenmegwyvyhs6u

Accelerating Kinodynamic RRT* Through Dimensionality Reduction [article]

Dongliang Zheng, Panagiotis Tsiotras
2021 arXiv   pre-print
Sampling-based motion planning algorithms such as RRT* are well-known for their ability to quickly find an initial solution and then converge to the optimal solution asymptotically.  ...  However, the convergence rate can be slow for highdimensional planning problems, particularly for dynamical systems where the sampling space is not just the configuration space but the full state space  ...  INTRODUCTION Robotic motion planning with the goal of finding a dynamically feasible and optimal trajectory for the robot through an environment with obstacles has gained much progress over the past decades  ... 
arXiv:2107.01259v1 fatcat:wwslk5b2qzbh5nkotlwffujxbi

Kinodynamic RRT*: Optimal Motion Planning for Systems with Linear Differential Constraints [article]

Dustin J. Webb, Jur van den Berg
2012 arXiv   pre-print
We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints.  ...  Our approach generalizes earlier work on extending RRT* to kinodynamic systems, as it guarantees asymptotic optimality for any system with controllable linear dynamics, in state spaces of any dimension  ...  DISCUSSION, CONCLUSION, AND FUTURE WORK We have presented Kinodynamic RRT*, an incremental sampling-based approach that extends RRT* for asymptotically optimal motion planning for robots with differential  ... 
arXiv:1205.5088v1 fatcat:m6jyqfhywnh5hfmpcbkeuslbki

Expert-Guided Kinodynamic RRT Path Planner for Non-Holonomic Robots

Jose Maria Sanz, Miguel Hernani, Guillermo Zaragoza, Alberto Brunete
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this paper, an Expert-Guided Kinodynamic RRT algorithm (EGK-RRT) is presented. It aims to consider how a human pilot would navigate a kinodynamic robot.  ...  One of the characteristics of this algorithm is the fact that, unlike the original RRT for kinodynamic systems, it generates deterministic control sequences which can be reproduced as long as the sequence  ...  The following equations, in [13] and [14] , describe the dynamic behavior of the robot. ( ) 1 (2) (3) (4) Where X u and X u|u| represent the linear and quadratic damping parameters for each motion (  ... 
doi:10.1109/iros.2018.8593924 dblp:conf/iros/SanzHZB18 fatcat:jgcbczb4jzastfuj5vpojejgha

A Class of SDRE-RRT Based Kinodynamic Motion Planners

Adnan Tahirovic, Faris Janjos
2018 2018 Annual American Control Conference (ACC)  
A variety of LQR-RRT kinodynamic motion planners are built on the idea of solving a two point boundary value problem in an LQR manner for affine systems.  ...  We compare the proposed planners with LQR-RRT-like algorithms by observing the results obtained from the three specific benchmark examples.  ...  SDRE-RRT FOR KINODYNAMIC MOTION PLANNING A. SDRE-based distance heuristics In this paper, we propose several different SDRE-based distance heuristics.  ... 
doi:10.23919/acc.2018.8431412 dblp:conf/amcc/TahirovicJ18 fatcat:hwb7bv5cdvcgxkslqjcnb4es7e

Kinodynamic motion planning on Gaussian mixture fields

Luigi Palmieri, Tomasz P. Kucner, Martin Magnusson, Achim J. Lilienthal, Kai O. Arras
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
We present a mobile robot motion planning approach under kinodynamic constraints that exploits learned perception priors in the form of continuous Gaussian mixture fields.  ...  for non-holonomic mobile robots.  ...  CLiFF-RRT* For planning, we choose (and modify) RRT* as a natural choice for optimal motion planning under kinodynamic constraints.  ... 
doi:10.1109/icra.2017.7989731 dblp:conf/icra/PalmieriK0LA17 fatcat:fsgop2uakrbn5lnhltlzcwrcky

Asymptotically Optimal Sampling-based Kinodynamic Planning [article]

Yanbo Li, Zakary Littlefield, Kostas E. Bekris
2016 arXiv   pre-print
This work resolves the above question and describes how to achieve asymptotic optimality for kinodynamic planning using incremental sampling-based planners by introducing a new rigorous framework.  ...  Sampling-based algorithms are viewed as practical solutions for high-dimensional motion planning.  ...  thank the anonymous reviewers of the earlier versions of this work that appeared in IROS 2013 (Littlefield et al. 2013 ) and WAFR 2014 (Li et al. 2014) , as well as the reviewers of the IJRR version for  ... 
arXiv:1407.2896v5 fatcat:nhl776zc5jhdjiwj2ifpyhc4pq

Batch and Incremental Kinodynamic Motion Planning using Dynamic Factor Graphs [article]

Mandy Xie, Frank Dellaert
2020 arXiv   pre-print
By exploiting the sparsity in factor graphs, we can solve a kinodynamic motion planning problem efficiently, on par with existing optimal control methods, and use incremental elimination techniques to  ...  This paper presents a kinodynamic motion planner that is able to produce energy efficient motions by taking the full robot dynamics into account, and making use of gravity, inertia, and momentum to reduce  ...  We perform both kinodynamic motion planning tasks for the KUKA robot with the proposed DFGP algorithm, and the RRT-style methods Stable-Sparse-RRT(SST), Stable-Sparse-RRT*(SST*) and Asymptotically-Optimal-RRT  ... 
arXiv:2005.12514v2 fatcat:4u2glou54be33n6jyvcdcyirfm

Sampling-based optimal kinodynamic planning with motion primitives [article]

Basak Sakcak, Luca Bascetta, Gianni Ferretti, Maria Prandini
2018 arXiv   pre-print
and allow for motion planning in a dynamic or partially known environment.  ...  The database is built by considering a set of initial and final state pairs in some grid space, and determining for each pair an optimal trajectory that is compatible with the system dynamics and constraints  ...  Acknowledgements This work is supported by the European Commission under the project UnCoVerCPS with grant number 643921.  ... 
arXiv:1809.02399v1 fatcat:pyb3c7e3gvh33bl3p5ses4xhd4

Optimal kinodynamic motion planning using incremental sampling-based methods

Sertac Karaman, Emilio Frazzoli
2010 49th IEEE Conference on Decision and Control (CDC)  
In this paper, we consider the optimal kinodynamic motion planning problem, which is to solve the kinodynamic motion planning problem while minimizing a given cost functional.  ...  CONCLUSION In this paper, the optimal kinodynamic motion planning problem was considered. The RRT * algorithm was extended to handle kinodynamic constraints.  ... 
doi:10.1109/cdc.2010.5717430 dblp:conf/cdc/KaramanF10 fatcat:p5n4keoxqbc43gfgwnrnyfs4zi

State Supervised Steering Function for Sampling-based Kinodynamic Planning [article]

Pranav Atreya, Joydeep Biswas
2022 arXiv   pre-print
Sampling-based motion planners such as RRT* and BIT*, when applied to kinodynamic motion planning, rely on steering functions to generate time-optimal solutions connecting sampled states.  ...  Unfortunately, analytical solutions are unavailable for many real-world domains, and NLP solvers are prohibitively computationally expensive, hence fast and optimal kinodynamic motion planning remains  ...  Analytical solutions to the steering function exist for some robots, such as those with linear dynamics [28] , and so do iterative solutions for specific systems such as omnidirectional robots with bounded  ... 
arXiv:2206.07227v1 fatcat:3tkl4hcwajhcdfojyqt5245eym

Sparse Methods for Efficient Asymptotically Optimal Kinodynamic Planning [chapter]

Yanbo Li, Zakary Littlefield, Kostas E. Bekris
2015 Springer Tracts in Advanced Robotics  
This work describes STABLE SPARSE RRT (SST), an algorithm that (a) provably provides asymptotic (near-)optimality for kinodynamic planning without access to a steering function, (b) maintains only a sparse  ...  SST addresses the limitation of RRT * , which requires a steering function for asymptotic optimality.  ...  Due to RRT * 's desirable properties, many efforts focused on applying it in the kinodynamic domain by developing steering functions for specific systems [12] or linearizing the dynamics [8, 32] .  ... 
doi:10.1007/978-3-319-16595-0_16 fatcat:yhbpa6jdxbajrbj7n5atvqcrma

Real-Time Stochastic Kinodynamic Motion Planning via Multiobjective Search on GPUs [article]

Brian Ichter and Edward Schmerling and Ali-akbar Agha-mohammadi and Marco Pavone
2017 arXiv   pre-print
In this paper we present the PUMP (Parallel Uncertainty-aware Multiobjective Planning) algorithm for addressing the stochastic kinodynamic motion planning problem, whereby one seeks a low-cost, dynamically-feasible  ...  for the optimization objective and an approximation of CP.  ...  We consider a robot described by linear dynamics with Gaussian process and measurement noise which tracks a nominal trajectory using a Linear-Quadratic Gaussian (LQG)-derived controller.  ... 
arXiv:1607.06886v3 fatcat:aot7skrfi5frzll3yok5mr5qoq

Asymptotically Optimal Planning by Feasible Kinodynamic Planning in State-Cost Space [article]

Kris Hauser, Yilun Zhou
2015 arXiv   pre-print
This paper presents an equivalence between feasible kinodynamic planning and optimal kinodynamic planning, in that any optimal planning problem can be transformed into a series of feasible planning problems  ...  This transformation gives rise to a meta-algorithm that produces an asymptotically optimal planner, given any feasible kinodynamic planner as a subroutine.  ...  BACKGROUND AND RELATED WORK Optimal motion planning has been a topic of renewed activity in robotics largely due to the advent of samplingbased motion planners that are proven to be asymptotically optimal  ... 
arXiv:1505.04098v1 fatcat:rctk2ebllrbeflmmm65fu4bdc4

db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning [article]

Wolfgang Hoenig, Joaquim Ortiz-Haro, Marc Toussaint
2022 arXiv   pre-print
We consider time-optimal motion planning for dynamical systems that are translation-invariant, a property that holds for many mobile robots, such as differential-drives, cars, airplanes, and multirotors  ...  Our novel kinodynamic motion planner, kMP-db-A*, has almost surely asymptotic optimal behavior and computes near-optimal solutions quickly.  ...  The authors are with TU Berlin, Germany. {hoenig, joaquim.ortizdeharo, toussaint}@tu-berlin.de.  ... 
arXiv:2203.11108v2 fatcat:shn54hguqjhivjkhg3c33qko24
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