BoxRRT* -A Reliable Motion Planner

Abstract : This work aims at providing a new reliable (asymptotic) optimal motion planner, named BoxRRT*, which can guarantee a safe path to an unknown initial mobile robot localisation. Our proposed motion planner is build upon: i) methods which use stochastic sampling to discretise the configuration space, e.g., Rapidly-exploring Random Tree, which can guarantee (asymptotic) optimality of the solution, e.g., optimal RRT (a.k.a RRT*) and ii) modern and new tools for the guaranteed numerical integration based on Runge-Kutta methods.
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https://hal.archives-ouvertes.fr/hal-01574921
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Submitted on : Wednesday, August 16, 2017 - 8:55:53 PM
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  • HAL Id : hal-01574921, version 1

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Adina Panchea, Alexandre Chapoutot, David Filliat. BoxRRT* -A Reliable Motion Planner. 10th Summer Workshop on Interval Methods, and 3rd International Symposium on Set Membership - Applications, Reliability and Theory, Jun 2017, Manchester, United Kingdom. ⟨hal-01574921⟩

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