Introduction to algorithms
Control Problems in Robotics and Automation
Control Problems in Robotics and Automation
Eighteenth national conference on Artificial intelligence
Human-robot physical interaction with dynamically stable mobile robots
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
Differentially constrained mobile robot motion planning in state lattices
Journal of Field Robotics - Special Issue on Space Robotics, Part I
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Development of a robot balanced on a ball: application of passive motion to transport
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Path diversity is only part of the problem
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification
International Journal of Robotics Research
Motion planning with dynamics by a synergistic combination of layers of planning
IEEE Transactions on Robotics
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
Maneuver-based motion planning for nonlinear systems with symmetries
IEEE Transactions on Robotics
Shape space planner for shape-accelerated balancing mobile robots
International Journal of Robotics Research
Shape space planner for shape-accelerated balancing mobile robots
International Journal of Robotics Research
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This paper presents an integrated motion planning and control framework that enables balancing mobile robots to gracefully navigate human environments. A palette of controllers called motion policies is designed such that balancing mobile robots can achieve fast, graceful motions in small, collision-free domains of the position space. The domains determine the validity of a motion policy at any point in the robot's position state space. An automatic instantiation procedure that generates a motion policy library by deploying motion policies from a palette on a map of the environment is presented. A gracefully prepares relationship that guarantees valid compositions of motion policies to produce overall graceful motion is introduced. A directed graph called the gracefully prepares graph is used to represent all valid compositions of motion policies in the motion policy library. The navigation tasks are achieved by planning in the space of these gracefully composable motion policies. In this work, Dijsktra's algorithm is used to generate a single-goal optimal motion policy tree, and its variant is used to rapidly replan the optimal motion policy tree in the presence of dynamic obstacles. A hybrid controller is used as a supervisory controller to ensure successful execution of motion policies and also successful switching between them. The integrated motion planning and control framework presented in this paper was experimentally tested on the ballbot, a human-sized dynamically stable mobile robot that balances on a single ball. The results of successful experimental testing of two navigation tasks, namely, point-point and surveillance motions are presented. Additional experimental results that validate the framework's capability to handle disturbances and rapidly replan in the presence of dynamic obstacles are also presented.