Robot Motion Planning
Springer Handbook of Robotics
Planning Algorithms
Computational Geometry: Algorithms and Applications
Computational Geometry: Algorithms and Applications
Temporal logic motion planning for dynamic robots
Automatica (Journal of IFAC)
Automatic deployment of distributed teams of robots from temporal logic motion specifications
IEEE Transactions on Robotics
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
A novel obstacle avoidance algorithm: "Follow the Gap Method"
Robotics and Autonomous Systems
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This work proposes a fully automatic planning and control strategy for solving a navigation problem for a car-like robot with non-negligible size and constraint control inputs. The approach uses cell decompositions for abstracting the robot behavior to a final state description on which the planning problem is solved. As part of the solution, we obtain a ranking of different cell decomposition types that are suitable for planning the motion of a car-like robot. The originality of our method mainly comes from the iterative procedure for finding a feasible path based on cell decompositions. Although the approach is not complete, it benefits from a fully-automatic planning and control strategy and from a reduced computational complexity. The solution is implemented as a user-friendly freely-downloadable MATLAB package. This may come as a handy tool for employing the strategy for automatic planning and control of a car-like robot in a real scenario.