T
Thierry Fraichard
Researcher at University of Grenoble
Publications - 89
Citations - 4296
Thierry Fraichard is an academic researcher from University of Grenoble. The author has contributed to research in topics: Motion planning & Mobile robot. The author has an hindex of 37, co-authored 89 publications receiving 4047 citations. Previous affiliations of Thierry Fraichard include Centre national de la recherche scientifique & French Institute for Research in Computer Science and Automation.
Papers
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Journal ArticleDOI
From Reeds and Shepp's to continuous-curvature paths
Thierry Fraichard,Alexis Scheuer +1 more
TL;DR: Continuous Curvature Steer is the first to compute paths with: 1) continuous curvature; 2) upper-bounded curvature); and 3)upper-bounding curvature derivative, and verifies a topological property that ensures that when it is used within a general motion-planning scheme, it yields a complete collision-free path planner.
Journal ArticleDOI
Inevitable collision states - a step towards safer robots?
Thierry Fraichard,Hajime Asama +1 more
TL;DR: The main contribution of this paper is to lay down and explore the novel concept of inevitable collision state of a robotic system subject to sensing constraints in a partially known environment (i.e. that may contain unexpected obstacles).
Proceedings ArticleDOI
Safe motion planning in dynamic environments
S. Petti,Thierry Fraichard +1 more
TL;DR: Partial motion planning is a motion planning scheme with an anytime flavor: when the time available is over, PMP returns the best partial motion to the goal computed so far, which relies upon the concept of inevitable collision states (ICS).
Journal ArticleDOI
Bayesian Occupancy Filtering for Multitarget Tracking: An Automotive Application
TL;DR: This paper proposes a new approach for robust perception and risk assessment in highly dynamic environments called Bayesian occupancy filtering, which basically combines a four-dimensional occupancy grid representation of the obstacle state space with Bayesian filtering techniques.
Proceedings ArticleDOI
Inevitable collision states. A step towards safer robots
Thierry Fraichard,Hajime Asama +1 more
TL;DR: This concept is very general and can be useful both for navigation and motion planning purposes (for its own safety, a robotic system should never find itself in an inevitable collision state) and is illustrated by a safe motion planning example.