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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