An experimental study of distributed robot coordination
Robotics and Autonomous Systems
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
A quantitative assessment of structural errors in grid maps
Autonomous Robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
iARW: an incremental path planner algorithm based on adaptive random walks
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
WorkCellSimulator: a 3d simulator for intelligent manufacturing
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
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We propose a novel single-shot motion-planning algorithm based on adaptive random walks. The proposed algorithm turns out to be simple to implement, and the solution it produces can be easily and efficiently optimized. Furthermore, the algorithm can incorporate adaptive components, so the developer is not required to specify all the parameters of the random distributions involved, and the algorithm itself can adapt to the environment it is moving in. Proofs of the theoretical soundness of the algorithm are provided, as well as implementation details. Numerical comparisons with well-known algorithms illustrate its effectiveness.