Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Approximation of generalized Voronoi diagrams by ordinary Voronoi diagrams
CVGIP: Graphical Models and Image Processing
Robot Motion Planning
Avoiding moving obstacles: the forbidden velocity map
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Reactive path deformation for nonholonomic mobile robots
IEEE Transactions on Robotics
A convergent dynamic window approach to obstacle avoidance
IEEE Transactions on Robotics
Integrated Obstacle Avoidance and Path Following Through a Feedback Control Law
Journal of Intelligent and Robotic Systems
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The paper focuses on the navigation subsystem of a mobile robot which operates in human environments to carry out different tasks, such as transporting waste in hospitals or escorting people in exhibitions. The paper describes a hybrid approach (Roaming Trails), which integrates a priori knowledge of the environment with local perceptions in order to carry out the assigned tasks efficiently and safely: that is, by guaranteeing that the robot can never be trapped in deadlocks even when operating within a partially unknown dynamic environment. The article includes a discussion about the properties of the approach, as well as experimental results recorded during real-world experiments.