Inevitable Collision States a Step Towards Safer Robots?

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2003, Pages 388-393

  Fraichard, Thierry ^a   Asama, Hajime ^b  

^a INRIA RHÔNE ALPES   (France)

^b UNIVERSITY OF TOKYO   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACCIDENT PREVENTION; ALGORITHMS; COLLISION AVOIDANCE; COMPUTATIONAL METHODS; CONSTRAINT THEORY; MOTION PLANNING; NAVIGATION; RANDOM PROCESSES; ROBOTICS;

COLLISION STATES; TRAJECTORY PLANNING;

ROBOTS;

EID: 0348041533     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (16)

1. T. Lozano-Perez, "Spatial planning, a configuration space approach," IEEE Trans. on Computing., vol. 32, no. 2, pp. 108-120, Feb. 1983.
2. J.-C. Latombe, Robot motion planning. Kluwer Academic Press, 1991.
3. J. Canny, B. Donald, J. Reif, and P. Xavier, "On the complexity of kynodynamic planning," in Proc. of the Symp. on the Foundations of Computer Science, White Plains, NY (US), Nov. 1988, pp. 306-316.
4. P. Xavier, "Provably-good approximation algorithms for optimal kino-dynamic robot motion plans," Ph.D. dissertation, Cornell Univ., Ithaca, NY (US), Apr. 1992.
5. T. Fraichard, "Dynamic trajectory planning with dynamic constraints: a 'state-time space' approach," in Proc. of the IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, vol. 2, Yokohama (JP), July 1993, pp. 1394-1400.
6. _, "Trajectory planning in a dynamic workspace: a 'state-time' approach," Advanced Robotics, vol. 13, no. 1, pp. 75-94, 1999.
7. D. Hsu, R. Kindel, J.-C. Latombe, and S. Rock, "Randomized kinodynamic motion planning with moving obstacles," in Proc. of the Workshop on the Algorithmic Foundations of Robotics, Hanover, NH (US), Mar. 2000.
8. S. LaValle and J. Kuffher, "Randomized kinodynamic planning," in Proc. of the IEEE Int. Conf. on Robotics and Automation, vol. 1, Detroit, MI (US), May 1999, pp. 473-479.
9. R. Sunmons, "The curvature-velocity method for local obstacle avoidance," in Proc. of the IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN (US), Apr. 1996, pp. 3375-3382.
10. D. Fox, W. Burgard, and S. Thrun, "The dynamic window approach to collision avoidance," IEEE Robotics and Automation Magazine, vol. 4, no. 1, pp. 23-33, Mar. 1997.
11. P. Fiorini and Z. Shiller, "Motion planning in dynamic environments using velocity obstacles," Int. Journal of Robotics Research, vol. 17, no. 7, pp. 760-772, July 1998.
12. N. Y. Ko and R. Simmons, "The lane-curvature method for local obstacle avoidance," in Proc. of the IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Victoria, BC (CA), Oct. 1998.
13. O. Brock and O. Khatib, "High-speed navigation using the global dynamic window approach," in Proc. of the IEEE Int. Conf. on Robotics and Automation, Detroit, MI (US), May 1999.
14. R. Alarmi, T. Siméon, and K. Madhava Krishna, "On th einfluence of sensor capacities and environment dynamics onto collision-free motion plans," in Proc. of the IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Lausanne (CH), Sept.-Oct. 02.
15. S. Lavalle, "Rapidly-exploring random trees: A new tool for path planning," Dept. of Computer Science, Iowa State University, Ames, IA (US), Research Report 98-11, Dec. 1998.
16. S. Blondin, "Planification de mouvements pour véhicule automatisé en environnement partiellement connu," Inst. Nat. Polytechnique de Grenoble, Grenoble (FR), Mémoire de Diplôme d'Etudes Approfondies, June 2002.