Proceedings ArticleDOI
Coping with uncertainty in control and planning for a mobile robot
Huosheng Hu,Michael Brady,P.J. Probert +2 more
- Vol. 2, pp 1025-1030
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TLDR
Based on prior information and sensor data, the proposed method allows the mobile robot to avoid unexpected obstacles and finds an optimal path to the goal in real time.Abstract:
Describes a decision theoretic approach to real-time obstacle avoidance and path planning for a mobile robot. The mobile robot navigates in a semi-structured environment in which unexpected obstacles may appear at random locations. Twelve sonar sensors are currently used to report the presence and location of the obstacles. To handle the uncertainty of an obstacle's appearance, the authors adopt a Bayesian approach by assuming a prior distribution for the presence of unknown obstacles. The distribution is changed dynamically according to the information accumulated by sensors. When searching for an optimal path using dynamic programming, the authors take the probability into account in making a decision. Based on prior information and sensor data, they show that the proposed method allows the mobile robot to avoid unexpected obstacles and finds an optimal path to the goal in real time. >read more
Citations
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MonographDOI
Planning Algorithms: Introductory Material
TL;DR: This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
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Optimal motion planning for multiple robots having independent goals
TL;DR: This work makes two contributions to geometric motion planning for multiple robots: i) motion plans can be determined that simultaneously optimize an independent performance criterion for each robot; ii) a general spectrum is defined between decoupled and centralized planning.
Approaches to Mobile Robot Localization in Indoor Environments
TL;DR: An extensively tested low-complexity, robust and accurate pose tracking method is presented which utilizes the minimalistic model in combination with a laser sensor, based on the ideas of Multiple Hypothesis Tracking.
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Robot Motion Planning : A Game-Theoretic Foundation
TL;DR: A unified, game-theoretic mathematical foundation is proposed upon which analysis and algorithms can be developed for a broad class of motion planning problems, including those involving uncertainty in sensing and control, environment uncertainties, and the coordination of multiple robots.
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Pareto-optimal coordination of multiple robots with safety guarantees
Rongxin Cui,Bo Gao,Ji Guo +2 more
TL;DR: This paper proposes a search method on the probabilistic roadmap to obtain the Pareto-optimal coordination solution for multiple robots, and presents simulation and experimental results to demonstrate the effectiveness of the algorithms.
References
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Book
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TL;DR: The more the authors study the information processing aspects of the mind, the more perplexed and impressed they become, and it will be a very long time before they understand these processes sufficiently to reproduce them.
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TL;DR: In this paper, a new architecture for controlling mobile robots is described, which is made up of asynchronous modules that communicate over low-bandwidth channels, each module is an instance of a fairly simple computational machine.
Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Journal ArticleDOI
Spatial Planning: A Configuration Space Approach
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