BookDOI
Robot Motion Planning and Control
Jean-Paul Laumond
- Iss: 229
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TLDR
Guidelines in nonholonomic motion planning for mobile robots and collision detection algorithms for motion planning are presented.Abstract:
Guidelines in nonholonomic motion planning for mobile robots.- Geometry of nonholonomic systems.- Optimal trajectories for nonholonomic mobile robots.- Feedback control of a nonholonomic car-like robot.- Probabilistic path planning.- Collision detection algorithms for motion planning.read more
Citations
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Adaptive Motion Planning
TL;DR: The approach leads to the synthesis of a robust real-time planning module that allows a UAV to navigate seamlessly across environments and speed-regimes and establishes novel connections between the disparate fields of motion planning and active learning, imitation learning and online paging which opens doors to several new research problems.
Posted Content
Solving a Path Planning Problem in a Partially Known Environment using a Swarm Algorithm
TL;DR: This paper proposes a path planning strategy for an Autonomous Ground Vehicle (AGV) navigating in a partially known environment using a biomimetic swarm algorithm that is inspired by the nest building strategies followed by termites.
Proceedings ArticleDOI
Formal verification of braking while swerving in automobiles
TL;DR: This work study's the full continuous range of combined maneuvers, from maximal turning with little braking to maximal braking with little turning, and uses a unicycle model with Ackermann's steering for the car's motion and the circle of traction forces to model the trade-off between braking and swerving.
Proceedings ArticleDOI
An approach of human driving behavior correction based on Dynamic Window Approach
TL;DR: The approach of an applicable safety driving methodology for human drivers based on Dynamic Window Approach (DWA), as an implementation of Advanced Driving Assist Systems (ADASs) is presented.
Journal ArticleDOI
Describing and Calculating Flat Outputs of Two-input Driftless Control Systems
Shun-Jie Li,Witold Responder +1 more
TL;DR: In this article, the flatness of 2-input driftless control systems is studied and the problem of describing all flat outputs and of calculating them is open, and it is shown that all x -flat outputs are parameterized by an arbitrary function of three canonically defined variables.