# Reliable robust path planning with application to mobile robots

Romain Pepy; Michel Kieffer; Eric Walter

International Journal of Applied Mathematics and Computer Science (2009)

- Volume: 19, Issue: 3, page 413-424
- ISSN: 1641-876X

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topRomain Pepy, Michel Kieffer, and Eric Walter. "Reliable robust path planning with application to mobile robots." International Journal of Applied Mathematics and Computer Science 19.3 (2009): 413-424. <http://eudml.org/doc/207945>.

@article{RomainPepy2009,

abstract = {This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.},

author = {Romain Pepy, Michel Kieffer, Eric Walter},

journal = {International Journal of Applied Mathematics and Computer Science},

keywords = {interval analysis; path planning; robust control; state-space models},

language = {eng},

number = {3},

pages = {413-424},

title = {Reliable robust path planning with application to mobile robots},

url = {http://eudml.org/doc/207945},

volume = {19},

year = {2009},

}

TY - JOUR

AU - Romain Pepy

AU - Michel Kieffer

AU - Eric Walter

TI - Reliable robust path planning with application to mobile robots

JO - International Journal of Applied Mathematics and Computer Science

PY - 2009

VL - 19

IS - 3

SP - 413

EP - 424

AB - This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.

LA - eng

KW - interval analysis; path planning; robust control; state-space models

UR - http://eudml.org/doc/207945

ER -

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