Fronts propagating with curvature-dependent speed: algorithms based on Hamilton-Jacobi formulations
Journal of Computational Physics
Introduction to algorithms
A viscosity solutions approach to shape-from-shading
SIAM Journal on Numerical Analysis
Global Minimum for Active Contour Models: A Minimal Path Approach
International Journal of Computer Vision
SIAM Review
Robot Motion Planning
Optimal Algorithm for Shape from Shading and Path Planning
Journal of Mathematical Imaging and Vision
Finding Shortest Paths on Surfaces Using Level Sets Propagation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Planning Algorithms
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
Seeking chances through interface design: the role of abduction
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Reactive path deformation for nonholonomic mobile robots
IEEE Transactions on Robotics
Path Planning for Autonomous Underwater Vehicles
IEEE Transactions on Robotics
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We investigate path planning algorithms that are based on level set methods for applications in which the environment is static, but where an a priori map is inaccurate and the environment is sensed in real-time. Our principal contribution is not a new path planning algorithm, but rather a formal analysis of path planning algorithms based on level set methods. Computational costs when planning paths with level set methods are due to the creation of the level set function. Once the level set function has been computed, the optimal path is simply gradient descent down the level set function. Our approach rests on the formal analysis of how value of the level set function changes when the changes in the environment are detected. We show that in many practical cases, only a small domain of the level set function needs to be re-computed when the environment changes. Simulation examples are presented to validate the effectiveness of the proposed method.