Maximum thick paths in static and dynamic environments
Proceedings of the twenty-fourth annual symposium on Computational geometry
Development of a configuration space motion planner for robot in dynamic environment
Robotics and Computer-Integrated Manufacturing
Maximum thick paths in static and dynamic environments
Computational Geometry: Theory and Applications
Reactive path planning in a dynamic environment
IEEE Transactions on Robotics
Elastic roadmaps--motion generation for autonomous mobile manipulation
Autonomous Robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Path planning in changing environments by using optimal path segment search
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Control methodology of stacker cranes for collision avoidance considering dynamics in a warehouse
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
AMF: a novel reactive approach for motion planning of mobile robots in unknown dynamic environments
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
A safe and flexible CP-based approach for velocity tuning problems
CP'10 Proceedings of the 16th international conference on Principles and practice of constraint programming
Space-time planning with parameterized locomotion controllers
ACM Transactions on Graphics (TOG)
Intelligent flight task algorithm for unmanned aerial vehicle
Expert Systems with Applications: An International Journal
A Connectivity-Based Method for Enhancing Sampling in Probabilistic Roadmap Planners
Journal of Intelligent and Robotic Systems
On responsiveness, safety, and completeness in real-time motion planning
Autonomous Robots
A family of skeletons for motion planning and geometric reasoning applications
Artificial Intelligence for Engineering Design, Analysis and Manufacturing - Representing and Reasoning About Three-Dimensional Space
Rapid control selection through hill-climbing methods
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
Multi-agent Infrastructure Assisting Navigation for First Responders
Proceedings of the Sixth ACM SIGSPATIAL International Workshop on Computational Transportation Science
Path planning of mobile robot with neuro-genetic-fuzzy technique in static environment
International Journal of Hybrid Intelligent Systems
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In this paper, a new method is presented for motion planning in dynamic environments, that is, finding a trajectory for a robot in a scene consisting of both static and dynamic, moving obstacles. We propose a practical algorithm based on a roadmap that is created for the static part of the scene. On this roadmap, an approximately time-optimal trajectory from a start to a goal configuration is computed, such that the robot does not collide with any moving obstacle. The trajectory is found by performing a two-level search for a shortest path. On the local level, trajectories on single edges of the roadmap are found using a depth-first search on an implicit grid in state-time space. On the global level, these local trajectories are coordinated using an A*-search to find a global trajectory to the goal configuration. The approach is applicable to any robot type in configuration spaces with any dimension, and the motions of the dynamic obstacles are unconstrained, as long as they are known beforehand. The approach has been implemented for both free-flying and articulated robots in three-dimensional workspaces, and it has been applied to multirobot motion planning, as well. Experiments show that the method achieves interactive performance in complex environments.