Skip to Main content Skip to Navigation
Conference papers

Extended Reliable Robust Motion Planners

Abstract : A new method to plan guaranteed to be safe paths in an uncertain environment , with an uncertain initial and final configuration space, while avoiding static obstacles is presented. First, two improved versions of the previously proposed BoxRRT algorithm are presented: both with a better integration scheme and one of them with the control input selected according to a desired objective, and not randomly, as in the original formulation. Second, a new motion planner, called towards BoxRRT*, based on optimal Rapidly-exploring Random Trees algorithm and using interval analysis is introduced. Finally, each of the described algorithms are evaluated on a numerical example. Results show that our algorithms make it possible to find shorter reliable paths with less iterations.
Complete list of metadata

Cited literature [23 references]  Display  Hide  Download
Contributor : Alexandre Chapoutot Connect in order to contact the contributor
Submitted on : Tuesday, March 28, 2017 - 5:39:44 PM
Last modification on : Thursday, January 21, 2021 - 9:26:01 AM
Long-term archiving on: : Thursday, June 29, 2017 - 6:24:52 PM


Files produced by the author(s)




Adina Panchea, Alexandre Chapoutot, David Filliat. Extended Reliable Robust Motion Planners. 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. ⟨10.1109/CDC.2017.8263805⟩. ⟨hal-01493576⟩



Record views


Files downloads