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Collision Avoidance of a Kinodynamically Constrained System from Passive Agents
2021
Engineering, Technology & Applied Science Research
Robot motion planning in dynamic environments is significantly difficult, especially when the future trajectories of dynamic obstacles are only predictable over a short time interval and can change frequently. Moreover, a robot's kinodynamic constraints make the task more challenging. This paper proposes a novel collision avoidance scheme for navigating a kinodynamically constrained robot among multiple passive agents with partially predictable behavior. For this purpose, this paper presents a
doi:10.48084/etasr.4022
fatcat:56pwxr6wefbonm4wa4wboodr6m