Author:
McMahon James,Plaku Erion
Abstract
SUMMARYThis paper presents an efficient approach for planning collision-free and dynamically feasible trajectories that enable a mobile robot to carry out tasks specified as regular languages over workspace regions. A sampling-based tree search is conducted over the feasible motions and over an abstraction obtained by combining the automaton representing the regular language with a workspace decomposition. The abstraction is used to partition the motion tree into equivalence classes and estimate the feasibility of reaching accepting automaton states from these equivalence classes. The partition is continually refined to discover new ways to expand the search. Comparisons to related work show significant speedups.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference55 articles.
1. D. Devaurs , T. Simeon and J. Cortés , “Enhancing the Transition-Based RRT to Deal with Complex Cost Spaces,” IEEE International Conference on Robotics and Automation, Tokyo, Japan (2013) pp. 4120–4125.
2. E. Plaku , “Robot Motion Planning with Dynamics as Hybrid Search,” AAAI Conference on Artificial Intelligence, Bellevue, Washington, USA (2013) pp. 1415–1421.
3. C. I. Vasile and C. Belta , “Sampling-Based Temporal Logic Path Planning,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan (2013) pp. 4817–4822.
4. Maneuver-based motion planning for nonlinear systems with symmetries
5. The Motion Grammar: Analysis of a Linguistic Method for Robot Control
Cited by
11 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献