Flying Fast and Low Among Obstacles: Methodology and Experiments
International Journal of Robotics Research
Composition of Motion Description Languages
HSCC '08 Proceedings of the 11th international workshop on Hybrid Systems: Computation and Control
Optimization of Multi-agent Motion Programs with Applications to Robotic Marionettes
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Analytic error variance predictions for planar vehicles
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Survivability: measuring and ensuring path diversity
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Motion programs for puppet choreography and control
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
MDL-based posture stabilization for wheeled mobile robots with nonholonomic constraints
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Multi-UAV convoy protection: an optimal approach to path planning and coordination
IEEE Transactions on Robotics
Motion planning with dynamics by a synergistic combination of layers of planning
IEEE Transactions on Robotics
Autonomous Helicopter Aerobatics through Apprenticeship Learning
International Journal of Robotics Research
Bounding on rough terrain with the LittleDog robot
International Journal of Robotics Research
Applications of hybrid reachability analysis to robotic aerial vehicles
International Journal of Robotics Research
Integrating planning and control for single-bodied wheeled mobile robots
Autonomous Robots
Modelling and control of a flying robot interacting with the environment
Automatica (Journal of IFAC)
Improving efficiency of finite plans by optimal choice of input sets
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
Global estimation in constrained environments
International Journal of Robotics Research
Hybrid systems tools for compiling controllers for cyber-physical systems
Discrete Event Dynamic Systems
International Journal of Robotics Research
Opportunities and challenges with autonomous micro aerial vehicles
International Journal of Robotics Research
Integrated motion planning and control for graceful balancing mobile robots
International Journal of Robotics Research
Motion planning and reactive control on learnt skill manifolds
International Journal of Robotics Research
A hierarchical approach for primitive-based motion planning and control of autonomous vehicles
Robotics and Autonomous Systems
Information-Seeking Control Under Visibility-Based Uncertainty
Journal of Mathematical Imaging and Vision
| Hi-index | 0.00 |
In this paper, we introduce an approach for the efficient solution of motion-planning problems for time-invariant dynamical control systems with symmetries, such as mobile robots and autonomous vehicles, under a variety of differential and algebraic constraints on the state and on the control inputs. Motion plans are described as the concatenation of a number of well-defined motion primitives, selected from a finite library. Rules for the concatenation of primitives are given in the form of a regular language, defined through a finite-state machine called a Maneuver Automaton. We analyze the reachability properties of the language, and present algorithms for the solution of a class of motion-planning problems. In particular, it is shown that the solution of steering problems for nonlinear dynamical systems with symmetries and invariant constraints can be reduced to the solution of a sequence of kinematic inversion problems. A detailed example of the application of the proposed approach to motion planning for a small aerobatic helicopter is presented.