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Topology-Guided Path Integral Approach for Stochastic Optimal Control in Cluttered Environment
[article]
2018
arXiv
pre-print
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This paper addresses planning and control of robot motion under uncertainty that is formulated as a continuous-time, continuous-space stochastic optimal control problem, by developing a topology-guided ...
path integral control method. ...
Acknowledgment This work was supported by Agency for Defense Development (under contract #UD150047JD). ...
arXiv:1603.05099v2
fatcat:vsjjoyvpk5aqliihd43uqjs6ia
Probabilistic Safety Programs
[article]
2016
arXiv
pre-print
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Achieving safe control under uncertainty is a key problem that needs to be tackled for enabling real-world autonomous robots and cyber-physical systems. ...
We propose to perform these evaluations by first compiling the PSP to a graphical model then using a fast variational inference algorithm. ...
(a) RRT* tree (red) generated from current position. (b) Using PSP to prune unsafe regions of the tree. (c) Shortest path in safe tree found towards goal node. ...
arXiv:1610.05376v1
fatcat:fnpisodjkfesfdsqrpwqjex4xu
The Value of Planning for Infinite-Horizon Model Predictive Control
[article]
2021
arXiv
pre-print
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In these problems, MPC is often formulated to track a path or trajectory returned by a planner. ...
Model Predictive Control (MPC) is a classic tool for optimal control of complex, real-world systems. ...
Even though it cannot take shortcuts along the planned path like MPPI can, it seems like the stochasticity of MPPI (or its ability to account for and avoid obstacles when the planned path goes near them ...
arXiv:2104.02863v1
fatcat:tmnoz5jpvvfo7ft34ejgmk73cm
Motion planning in high-dimensional spaces
[article]
2018
arXiv
pre-print
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The increased use of high DOF robots that must perform tasks in real time in complex dynamic environments spurs the need for fast motion planning algorithms. ...
In this overview, we discuss several types of strategies for motion planning in high dimensional spaces and dissect some of them, namely grid search based, sampling based and trajectory optimization based ...
There are two common paradigms for successful motion planning. The first paradigm separates motion planning into path planning and path execution. ...
arXiv:1806.07457v2
fatcat:c5g37frxgbhldauf3qz5letup4
3D planning and trajectory optimization for real-time generation of smooth MAV trajectories
2015
2015 European Conference on Mobile Robots (ECMR)
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Complex indoor and outdoor missions for autonomous micro aerial vehicles (MAV) constitute a demand for fast generation of collision-free paths in 3D space. ...
Our approach utilizes coarse grid-based path planning with an approximate model of flight dynamics to determine collision-free trajectories. ...
ACKNOWLEDGMENT This work was funded by the German Federal Ministry for Economic Affairs and Energy (BMWi) in the Autonomics for Industry 4.0 project InventAIRy. ...
doi:10.1109/ecmr.2015.7324217
dblp:conf/ecmr/NieuwenhuisenB15
fatcat:fkghse26pvf7va35ynohw433ya
An Efficient Stochastic Constrained Path Planner for Redundant Manipulators
2021
Applied Sciences
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The proposed Stochastic Constrained Optimization (SCO) solution remains close to optimal whilst exhibiting computational tractability, being an attractive proposition for implementation on real robots, ...
along a task-space trajectory in the presence of obstacles. ...
A significant branch of stochastic planners is based on Rapidly-exploring Random Trees (RRTs) [13] . ...
doi:10.3390/app112210636
fatcat:a5qzja3v2bhapprlb3xjul44zy
Addressing cost-space chasms in manipulation planning
2011
2011 IEEE International Conference on Robotics and Automation
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Such chasms are particularly common in planning for manipulators because many useful cost functions induce narrow or lowerdimensional low-cost areas. ...
Finding paths in high-dimensional spaces becomes difficult when we wish to optimize the cost of a path in addition to obeying feasibility constraints. ...
We have also described general cost functions in workspace, task space, and C-space that are useful for manipulation planning and that induce such cost-space chasms. ...
doi:10.1109/icra.2011.5979797
dblp:conf/icra/BerensonSS11
fatcat:422swal53fclhbdmxcddcfpgwq
Cross-entropy motion planning
2012
The international journal of robotics research
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A method for computing high-quality trajectories is proposed building upon recent developments in sampling-based motion planning and stochastic optimization. ...
The cross-entropy method is combined with recent optimal motion planning methods such as the rapidly exploring random trees (RRT * ) in order to handle complex environments. ...
Acknowledgements The author thanks the reviewers for the useful directions for improving the paper. ...
doi:10.1177/0278364912444543
fatcat:i4uhlrv7inej5eycb422dwjrka
Systematic Literature Review of Sampling Process in Rapidly-exploring Random Trees
2019
IEEE Access
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One of the most wide algorithms used for this purpose is the rapidly-exploring random tree (RRT), in which each node of a tree data structure is generated from a search space by a random sampling process ...
INDEX TERMS Non-uniform sampling, informed sampling, path planning, RRT, systematic literature review. ...
RAPIDLY-EXPLORING RANDOM TREE (RRT) The RRT algorithm for path planning is described in Alg. 1. ...
doi:10.1109/access.2019.2908100
fatcat:n4nxxpquurcmlaeayjrnmlcxru
LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty
2012
2012 IEEE International Conference on Robotics and Automation
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We integrate a Kalman filter for state estimation and an LQR feedback controller into a closed-loop dynamics model of which a higher-level control objective is the "control input". ...
environments with obstacles and narrow passages. ...
In general, planning for more noise allowed smoother, gentler paths.
3) Timing Results: A benefit of LQG-Obstacles is the ability to run fast enough for feedback control. ...
doi:10.1109/icra.2012.6224648
dblp:conf/icra/BergWGNM12
fatcat:bqlbxydlgncwjpg6grplpombza
3D path planning and execution for search and rescue ground robots
2013
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
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In this article, we present a system that is able to plan and execute a path in a complex environment starting from noisy sensor input. ...
One milestone for autonomous mobile robotics is to endow robots with the capability to compute the plans and motor commands necessary to reach a defined goal position. ...
ACKNOWLEDGMENT The authors thank Andreas Breitenmoser, Martin Rufli and Elena Stumm for their most valuable input and discussions. And Stéphane Magnenat for his thorough review of the paper. ...
doi:10.1109/iros.2013.6696431
dblp:conf/iros/ColasMPLS13
fatcat:co2nmasfirbslbjjuxtoknbsjq
CAMPs: Learning Context-Specific Abstractions for Efficient Planning in Factored MDPs
[article]
2020
arXiv
pre-print
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Our experiments consider five planners across four domains, including robotic navigation among movable obstacles (NAMO), robotic task and motion planning for sequential manipulation, and classical planning ...
We observe that (1) imposing a constraint can induce context-specific independences that render some aspects of the domain irrelevant, and (2) an agent can take advantage of this fact by imposing constraints ...
Acknowledgments We would like to thank Kelsey Allen for valuable comments on an initial draft. ...
arXiv:2007.13202v3
fatcat:7l746gpd7reppgr6fyqhkx7u6e
Control Barrier Function Augmentation in Sampling-based Control Algorithm for Sample Efficiency
[article]
2021
arXiv
pre-print
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For a nonlinear stochastic path planning problem, sampling-based algorithms generate thousands of random sample trajectories to find the optimal path while guaranteeing safety by Lagrangian penalty methods ...
However, the sampling-based algorithm can perform poorly in obstacle-rich environments because most samples might violate safety constraints, invalidating the corresponding samples. ...
Notation Description t Time index for path-planning. i Sample index for path-planning. x i t τi Sample trajectory when the index is i. V Real control input sequence. ...
arXiv:2111.06974v1
fatcat:acnrkpmuhzdabil2pndpau4oea
Regression-based LP solver for chance-constrained finite horizon optimal control with nonconvex constraints
2011
Proceedings of the 2011 American Control Conference
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The aim of this work is to significantly reduce the computation time of the previous algorithm so that it can be applied to practical problems, such as a path planning with multiple obstacles. ...
Matrix transformations and boosting trees are then applied to generate learning models; fast inference is performed at run-time for new but similar FRR problems that occur when the system dynamics and/ ...
ACKNOWLEDGMENTS We would like to thank Michael Kerstetter, Scott Smith, Ronald Provine, and the Boeing Company for their support. ...
doi:10.1109/acc.2011.5990937
fatcat:dga7g5c72zdljkemcpxkdxr5vm
Finding Coordinated Paths for Multiple Holonomic Agents in 2-d Polygonal Environment
[article]
2014
arXiv
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We focus on the problem of finding continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. ...
We compare the performance of a widely-used reactive method ORCA with three variants of a popular planning algorithm RRT* applied to multi-agent path planning and find that an algorithm combining reactive ...
RRT* FOR MULTI-AGENT PATH FIND-ING The RRT* algorithm was originally designed for singleagent motion planning, however, it can be adapted to solve multi-agent path planning problems. ...
arXiv:1402.3613v1
fatcat:t5qcantgofarjgbe2zvdktwchy
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