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Sampling-based algorithms for optimal motion planning using process algebra specifications

Valerio Varricchio, Pratik Chaudhari, Emilio Frazzoli
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2014 IEEE International Conference on Robotics and Automation (ICRA)</a> </i> &nbsp;
We use ideas from sampling-based motion-planning algorithms to incrementally construct a finite abstraction of the dynamical system as a Kripke structure.  ...  This paper investigates motion-planning using formal language specifications for dynamical systems with differential constraints.  ...  CONCLUSIONS This paper discusses the problem of motion planning for dynamical systems with differential constraints using process algebra as a formal specification language to express complex missions  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2014.6907642">doi:10.1109/icra.2014.6907642</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/VarricchioCF14.html">dblp:conf/icra/VarricchioCF14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4hljd7u4cfh6rcdp4cmpggmsiu">fatcat:4hljd7u4cfh6rcdp4cmpggmsiu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705131855/http://www.vision.ucla.edu/%7Epratikac/pub/varricchio.chaudhari.ea.icra14.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/47/2d/472d45bafe2ae0bbab590468ff2cf6fcb37f1c6c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2014.6907642"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

A Survey of Asymptotically Optimal Sampling-based Motion Planning Methods [article]

Jonathan D. Gammell, Marlin P. Strub
<span title="2020-09-22">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Recent results have proven that some sampling-based planning methods probabilistically converge towards the optimal solution as computational effort approaches infinity.  ...  It is often desirable for this path to also optimize a cost function, such as path length.  ...  Sampling-based algorithms for optimal mo- tion planning using process algebra specifications. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 110.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2009.10484v1">arXiv:2009.10484v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/idhjoeu3snhljmmhvhodqd4cca">fatcat:idhjoeu3snhljmmhvhodqd4cca</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200924001442/https://arxiv.org/pdf/2009.10484v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ba/6a/ba6a79b4cf22d85f3c585912afa712383eead312.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2009.10484v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Motion Planning [chapter]

Lydia E. Kavraki, Steven M. LaValle
<span title="">2016</span> <i title="Springer International Publishing"> Springer Handbook of Robotics </i> &nbsp;
For specific, often simpler, planning instances, alternative approaches exist and are presented in Sect. 7.4.  ...  This chapter first provides a formulation of the geometric path planning problem in Sect. 7.2 and then introduces sampling-based planning in Sect. 7.3.  ...  Another factor is that solutions produced by path planning algorithms tend to not be excessively long, especially after some quick post-processing in the case of sampling-based planners.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-32552-1_7">doi:10.1007/978-3-319-32552-1_7</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/y5ak5kusybghtgh26uroc2f3gm">fatcat:y5ak5kusybghtgh26uroc2f3gm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180205091216/http://www.cs.columbia.edu:80/~allen/S18/motion_planning_springer.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/26/c3/26c3fa65fa5f50f01bec25e978b5d73e51addc42.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-32552-1_7"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

A Performance Review of Collision-Free Path Planning Algorithms

Shin, Chae
<span title="2020-02-12">2020</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ikdpfme5h5egvnwtvvtjrnntyy" style="color: black;">Electronics</a> </i> &nbsp;
Path planning for mobile agents is one of the areas that has drawn the attention of researchers', as evidenced in the large number of papers related to the collision-free path planning (CFPP) algorithm  ...  The purpose of this paper is to review the findings of those CFPP papers and the methodologies used to generate possible solutions for CFPP for mobile agents.  ...  The coordinate system model uses Algebra for describing the environment and the MAs' motion. This problem is called the Findspace problem, which is one aspect of spatial planning [25] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/electronics9020316">doi:10.3390/electronics9020316</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4dor3s37s5aoxjcztjt76kh3ea">fatcat:4dor3s37s5aoxjcztjt76kh3ea</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200219215132/https://res.mdpi.com/d_attachment/electronics/electronics-09-00316/article_deploy/electronics-09-00316.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/34/f1/34f1a1878b0cafe7a8dd7fcbaf58e5f92afcf5fc.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/electronics9020316"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Planning Jerk-Optimized Trajectory With Discrete Time Constraints for Redundant Robots

Chengkai Dai, Sylvain Lefebvre, Kai-Ming Yu, Jo M. P. Geraedts, Charlie C. L. Wang
<span title="">2020</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/sv6lf6p3jrf4vbz5puthqdqmae" style="color: black;">IEEE Transactions on Automation Science and Engineering</a> </i> &nbsp;
The jerk of motion is optimized in our trajectory planning method at the meanwhile of fabrication process to improve the quality of fabrication.  ...  It is crucial for a motion planning algorithm to compute a smooth and collision-free trajectory of robot to improve fabrication quality.  ...  The original algorithm presented in [1] needs about 40 hours for motion planning.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tase.2020.2974771">doi:10.1109/tase.2020.2974771</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/d3wpqsi7mbdspdl3c4rindqypu">fatcat:d3wpqsi7mbdspdl3c4rindqypu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210427085016/https://repository.tudelft.nl/islandora/object/uuid%3Ad37eace9-48fb-4ed9-9339-6397fcdedbaa/datastream/OBJ/download" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/4c/f2/4cf261483e3eb6e29ca6ecdd9024ddd62309a5b4.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tase.2020.2974771"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Automatic Parameter Tuning of Motion Planning Algorithms

Jose Cano, Yiming Yang, Bruno Bodin, Vijay Nagarajan, Michael O'Boyle
<span title="">2018</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</a> </i> &nbsp;
We evaluate and compare the efficiency of four different methods (i.e. random sampling, AUC-Bandit, random forest, and bayesian optimisation) to tune the parameters of two motion planning algorithms, BKPIECE  ...  Motion planning algorithms attempt to find a good compromise between planning time and quality of solution. Due to their heuristic nature, they are typically configured with several parameters.  ...  , although their behavior may be far from optimal (minimum planning time) for any specific planning problem.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2018.8594183">doi:10.1109/iros.2018.8594183</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/CanoYBNO18.html">dblp:conf/iros/CanoYBNO18</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/trzai6onevhb7luz7yirusjsj4">fatcat:trzai6onevhb7luz7yirusjsj4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190429154436/https://www.pure.ed.ac.uk/ws/files/70056521/2018_iros.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/88/bc/88bc130af8ccdd59a9ead663d3da812fe6c4437e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2018.8594183"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Asymptotic Optimality of Rapidly Exploring Random Tree [article]

Titas Bera and Debasish Ghose and Sundaram Suresh
<span title="2017-07-13">2017</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Based on these results we also try to establish a simple necessary condition for sampling based motion planners to be asymptotically optimal.  ...  In this paper we investigate the asymptotic optimality property of a randomized sampling based motion planner, namely RRT. We prove that a RRT planner is not an asymptotically optimal motion planner.  ...  For sampling based motion planning algorithms, optimality of the solution can only be analysed in an asymptotic sense.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1707.03976v1">arXiv:1707.03976v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/fz5bwottjrfglf3l5tysn2yuky">fatcat:fz5bwottjrfglf3l5tysn2yuky</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200831003742/https://arxiv.org/pdf/1707.03976v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/8f/b6/8fb6fad75851f1fac28658504d6361e8061f541c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1707.03976v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Planning Jerk-Optimized Trajectory with Discrete-Time Constraints for Redundant Robots [article]

Chengkai Dai, Sylvain Lefebvre, Kai-Ming Yu, Jo M.P. Geraedts, Charlie C.L. Wang
<span title="2020-02-15">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
The jerk of motion is optimized in our trajectory planning method at the meanwhile of fabrication process to improve the quality of fabrication.  ...  We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as  ...  The original algorithm presented in [1] needs about 40 hours for motion planning.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1909.06570v2">arXiv:1909.06570v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xfhqbbcw5ze3pdmnjn5ggq6z3a">fatcat:xfhqbbcw5ze3pdmnjn5ggq6z3a</a> </span>
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Toward a real-time framework for solving the kinodynamic motion planning problem

Ross Allen, Marco Pavone
<span title="">2015</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2015 IEEE International Conference on Robotics and Automation (ICRA)</a> </i> &nbsp;
A sampling-based motion planning algorithm then leverages such a precomputed roadmap to compute online an obstacle-free trajectory.  ...  In this paper we propose a framework combining techniques from sampling-based motion planning, machine learning, and trajectory optimization to address the kinodynamic motion planning problem in real-time  ...  Related Work: A standard distinction for motion planning algorithms is whether they are sampling-based (i.e., they avoid an explicit construction of the configuration space) or not [1] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2015.7139288">doi:10.1109/icra.2015.7139288</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/AllenP15.html">dblp:conf/icra/AllenP15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/344yfew3wzgnjmit5yjoosf2vy">fatcat:344yfew3wzgnjmit5yjoosf2vy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170812085348/http://web.stanford.edu/~pavone/papers/Allen.Pavone.ICRA15.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/de/db/dedbccc1f913bb65486af97a23f1a39af564e8c5.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2015.7139288"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

LQR-RRT*: Optimal sampling-based motion planning with automatically derived extension heuristics

Alejandro Perez, Robert Platt, George Konidaris, Leslie Kaelbling, Tomas Lozano-Perez
<span title="">2012</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2012 IEEE International Conference on Robotics and Automation</a> </i> &nbsp;
The resulting algorithm, LQR-RRT * , finds optimal plans in domains with complex or underactuated dynamics without requiring domain-specific design choices.  ...  The RRT * algorithm has recently been proposed as an optimal extension to the standard RRT algorithm [1] .  ...  ACKNOWLEDGEMENTS We would like to thank Gustavo Goretkin and Elena Glassman for valuable technical discussions.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2012.6225177">doi:10.1109/icra.2012.6225177</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/PerezPKKL12.html">dblp:conf/icra/PerezPKKL12</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gsrjv3ebb5gmjh77s6myli6jfu">fatcat:gsrjv3ebb5gmjh77s6myli6jfu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20120809082635/http://people.csail.mit.edu/aperez/www/stuff/perez_icra12.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e8/ee/e8eeeb10e0a79839cd0e01aa034340ef3a49cc60.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2012.6225177"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Current Issues in Sampling-Based Motion Planning [chapter]

Stephen R. Lindemann, Steven M. LaValle
<span title="">2005</span> <i title="Springer Berlin Heidelberg"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lirc5icuifhy7ln5rynpn4ak2e" style="color: black;">Springer Tracts in Advanced Robotics</a> </i> &nbsp;
We then discuss a variety of important issues for sampling-based motion planning, including uniform and regular sampling, topological issues, and search philosophies.  ...  In this paper, we discuss the field of sampling-based motion planning.  ...  Acknowledgement We thank Pekka Isto for bringing Glavina's work to our attention. We are grateful for the funding provided in part by NSF awards 9875304, 0118146, and 0208891.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/11008941_5">doi:10.1007/11008941_5</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/kzhor5pvyjd5vf45pn47apsebm">fatcat:kzhor5pvyjd5vf45pn47apsebm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20070417232839/http://msl.cs.uiuc.edu/~lavalle/papers/LinLav03b.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9a/9c/9a9cfba60416eb22fdbb831973cefb2aec750dcd.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/11008941_5"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

NUROA: A Numerical Roadmap Algorithm [article]

Reza Iraji, Hamidreza Chitsaz
<span title="2014-06-25">2014</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Motion planning has been studied for nearly four decades now.  ...  Sampling-based and heuristic methods are easy to implement and quite simple to customize but they lack completeness guarantees.  ...  For some non-critical applications, sampling-based motion planning algorithms have proven to be applicable in practice.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1403.5384v2">arXiv:1403.5384v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/skrsfh7f45fo5ozbfacr2daoiy">fatcat:skrsfh7f45fo5ozbfacr2daoiy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200912064053/https://arxiv.org/pdf/1403.5384v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d8/6f/d86f13455c3079ac92713a67007432e21320e621.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1403.5384v2" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Motion Planning for Mobile Robots [chapter]

Xiangrong Xu, Yang Yang, Siyu Pan
<span title="2018-09-26">2018</span> <i title="InTech"> Advanced Path Planning for Mobile Entities </i> &nbsp;
This chapter introduces two kinds of motion path planning algorithms for mobile robots or unmanned ground vehicles (UGV).  ...  Then, we propose an I-RRT* algorithm for motion planning, which combines the environment with obstacle constraints, vehicle constraints, and kinematic constraints.  ...  Description and implementation of the I-RRT* I-RRT* algorithm showed in Table 3 is specifically designed for motion planning in complex, cluttered environments where exploration of configuration space  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/intechopen.76895">doi:10.5772/intechopen.76895</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jvwyxoz3xzbhhowqdszifm6enm">fatcat:jvwyxoz3xzbhhowqdszifm6enm</a> </span>
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Optimal motion planning with the half-car dynamical model for autonomous high-speed driving

Jeong hwan Jeon, Raghvendra V. Cowlagi, Steven C. Peters, Sertac Karaman, Emilio Frazzoli, Panagiotis Tsiotras, Karl Iagnemma
<span title="">2013</span> <i title="IEEE"> 2013 American Control Conference </i> &nbsp;
We investigate the application of the RRT * optimal motion planning algorithm to autonomous high-speed driving. Specifically, we discuss the implementation of RRT * for the halfcar dynamical model.  ...  The local steering problem for the half-car dynamical model can then be transformed to a simpler steering problem for the front center of oscillation, which we solve efficiently by first constructing a  ...  The proposed motion planner is based on the RRT * optimal motion planning algorithm, and the key to an efficient implementation of RRT * for the half-car model is a fast local steering algorithm that we  ... 
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Research on an Obstacle Avoidance Method for UAV

Zhenqi He, Lu Yao, Fabio Bovenga
<span title="2021-09-10">2021</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wpareqynwbgqdfodcyhh36aqaq" style="color: black;">Mathematical Problems in Engineering</a> </i> &nbsp;
According to the properties of obstacles and the characteristics of UAV, standard Kalman filter is used for nonmaneuvering targets, and sigma point Kalman filter is used for maneuvering targets.  ...  In the aspect of obstacle avoidance, the minimum search method is used to get the initial population of local programming. Then, the improved genetic algorithm is run.  ...  UKF, the sigma point Kalman filter algorithm, is based on UT transformation and adopts the Kalman filter framework. e specific sampling form is deterministic sampling. e number of discrete points (called  ... 
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