Reliable robust path planning

Abstract : This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.
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Submitted on : Thursday, April 9, 2009 - 9:27:45 AM
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R. Pepy, Michel Kieffer, E. Walter. Reliable robust path planning. International Journal of Applied Mathematics and Computer Science, De Gruyter, 2009, 19 (3), pp.413-424. 〈10.2478/v10006-009-0034-2〉. 〈hal-00374571〉



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