Introduction ::

Traditional planners for mobile robots produce geometric plans that are kinematically infeasible since they do not incorporate kinematic constraints. This flaw was addressed in kinodynamic planning. In this effort we show how other kinds of constraints such as those imposed by the environment can also be incorporated apart from the kinodynamic constraints.

Activities::

Safe and proactive planning.   Planning for front & rear wheeled steered robots.

 

Related Publication ::

K. Madhava Krishna, R. Alami and T. Simeon, "Safe Proactive Plans and their Execution", Robotics and Autonomous Systems, 54 (2006) 244-255 (available online at www.sciencedirect.com) November 2005

K Madhava Krishna, R Alami and T Simeon "Moving Safely but not Slowly: Reactively Adapting Paths to Better Time-lengths", published in proceedings of ICAR (IEEE Intl Conf on Advanced Robotics ), Coimbra, Portugal, Jun 2003

R Alami, T Simeon and K Madhava Krishna, "On the influence of sensor capcities and environment dynamics onto collision free motion plans", proceedings of IROS (IEEE-RSJ Intl Conf on Intelligent Robotics and Systems), Sep. 2002

Associated People ::

Dr. K. Madhava Krishna

Dr. Rachid Alami (LAAS-CNRS)

Tuesday February 05, 2008