Topic
Motion planning
About: Motion planning is a research topic. Over the lifetime, 32846 publications have been published within this topic receiving 553548 citations.
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TL;DR: A nonlinear system, which given the input and output of the system is regarded as linear time-varying, is proposed and a Kalman filter is applied to successfully estimate the system state.
153 citations
TL;DR: This paper takes the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain by building a structured English language which maps directly to a fragment of LTL.
Abstract: Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its close relationship with fragments of natural language. In this paper, we take the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain. For this purpose, we built a structured English language which maps directly to a fragment of LTL.
153 citations
28 Mar 1993
TL;DR: A fuzzy controller for such a mobile robot that can take abstract goals into consideration is described that has been implemented in the SRI mobile robot Flakey, resulting in extremely smooth and reliable movement.
Abstract: Controlling the movement of an autonomous mobile robot requires the ability to pursue strategic goals in a highly reactive way. The authors describe a fuzzy controller for such a mobile robot that can take abstract goals into consideration. Through the use of fuzzy logic, reactive behavior, e.g., avoiding obstacles on the way, and goal-oriented behavior, e.g., trying to reach a given location, are smoothly blended into one sequence of control actions. The technique proposed has been implemented in the SRI mobile robot Flakey, resulting in extremely smooth and reliable movement. >
153 citations
08 Dec 2003
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.
Abstract: An inevitable collision state for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs. An inevitable collision state takes into account both the dynamics of the system and the obstacles, fixed or moving. The main contribution of this paper is to lay down and explore this novel concept (and the companion concept of inevitable collision obstacle). Formal definitions of the inevitable collision states and obstacles are given. Properties fundamental for their characterisation are established. 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). The interest of this concept is illustrated by a safe motion planning example.
153 citations
TL;DR: A systematic modeling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform and the optimization of criteria inherited from manipulability considerations are given to generate the controls of the system when its end effector motion is imposed.
Abstract: We propose a systematic modeling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. We use the models derived to generalize the standard definition of manipulability to the case of mobile manipulators. The effects of mounting a robotic arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Several applications are evoked, particularly applications to control. The optimization of criteria inherited from manipulability considerations are given to generate the controls of our system when its end effector motion is imposed.
152 citations