Adaptive sample bias for rapidly-exploring random trees with applications to test generation

Proceedings of the American Control Conference

Volumn 2, Issue , 2005, Pages 1166-1172

  Kim, R Jongwoo ^a   Esposito, Joel M ^b  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

^b UNITED STATES NAVAL ACADEMY   (United States)

Author keywords

Adaptive Biasing; Hybrid Systems; Motion Planning; Randomized Algorithms; Test Generation

Indexed keywords

ALGORITHMS; MOTION PLANNING; NONLINEAR CONTROL SYSTEMS; PROBLEM SOLVING; RANDOM PROCESSES; ROBOT APPLICATIONS; SAMPLING; TREES (MATHEMATICS);

HYBRID SYSTEMS; RAPIDLY-EXPLORING RANDOM TREES (RRT); ROBOTIC MOTION PLANNING; TEST GENERATION;

ADAPTIVE CONTROL SYSTEMS;

EID: 23944476651     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (22)

1. Thomas A.Henzinger, Benjamin Horowitz, Rupak Majumdar, and Howard Wong-Toi. Beyond HyTech: Hybrid systems analysis using interval numerical methods. In Hybrid Systems : Computation and Control, volume 1790 of Lecture Notes in Computer Science, pages 130-144. Springer Verlag, 2000.
2. E. Asarin, T. Dang, and O. Maler. The d/dt tool for verification of hybrid systems. In Computer Aided Verification, volume 2404 of Lecture Notes in Computer Science, pages 365-370. Springer Verlag, Copenhagen, 2002.
3. Calin Belta, Joel M. Esposito, Jongwoo Kim, and Vijay Kumar. Computational techniques for anaylsis of genetic network dynamics. To appear in International Journal of Robotics Research.
4. Amit Bhatia and Emilio Frazzoli. Incremental search methods for reachability analysis of continuous and hybrid systems. In HSCC, volume 2993 of Lecture Notes in Computer Science, pages 142-156. Springer, 2004.
5. Michael S. Branicky, Michael M. Curtiss, Joshua Levine, and Stuart Morgan. RRTs for nonlinear, discrete, and hybrid planning and control. December 2003.
6. Oleg Butchkarev and Stavros Tripakis. Verification of hyrbid systems with linear differential inclusions using ellipsoidal approximations. In Hybrid Systems : Computation and Control, volume 1790 of Lecture Notes in Computer Science, pages 73-88. Springer Verlag, 2000.
7. P. Cheng and S. M. LaValle. Reducing metric sensitivity in randomized trajectory design. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 43-48, 2001.
8. Joel M. Esposito, Jongwoo Kim, and Vijay Kumar. Adaptive RRTs for validating hybrid robotic control systems. In International Workshop on the Algorithmic Foundatiosn of Robotics 2004, Zeist, Netherlands, 2004.
9. Joel M. Esposito, George J. Pappas, and Vijay Kumar. Accurate event detection for simulating hybrid systems. In M.D. Di Benedetto and A. Sangiovanni-Vincentelli, editors. Hybrid Systems : Computation and Control, volume 2034 of Lecture Notes in Computer Science, pages 204-217. Springer Verlag, 2001.
10. J. H. Halton. On the efficiency of certain quasi-random sequences of points in evaluating multi-dimensional integrals. Numer. Math., (2):84-90, 1960.
11. Thomas A. Henzinger, Pei-Hsin Ho, and Howard Wong-Toi. HYTECH: A model checker for hybrid systems. International Journal on Software Tools for Technology Transfer, 1(1-2):110-122, 1997.
12. Jongwoo Kim, Jim Keller, and Vijay Kumar. Design and verification of controllers for airships. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2003.
13. Gerardo Lafferriere, George J. Pappas, and Sergio Yovine. Symbolic reachability computation for families of linear vector fields. Journal of Symbolic Computation, 32:231-253, 2001.
14. Steven M. LaValle and Michael S. Branicky. On the relationship between classical grid search and probabilistic roadmaps. In Workshop on the Algorithmic Foundation of Robotics (WAFR). December 2002.
15. Steven M. LaValle and James J. Kuffner. Randomized kinodynamic planning. International Journal of Robotics Research, 20(5):378-400, 2001.
16. Steven M. LaValle and James J. Kuffner. Rapidly exploring random trees: Progress and prospects. In B. Donald, K. Lynch, and D.Rus, editors, Algorithmic and computational robotics: new directions, pages 293-308. A.K. Peters, Wellesley, MA, 2001.
17. Joshua A. Levine. Sampling-based planning for hybrid systems. Master's thesis, Case Western Reserve University, September 2003.
18. John Lygeros and George Pappas. A tutorial on hybrid systems: Modeling, analysis and control. 14th IEEE International Symposium on Intelligent Control/Intelligent Systems and Semiotics, September 1999.
19. Ian Mitchell and Claire Tomlin. Level set methods for computation in hybrid systems. In B. Krogh and N. Lynch, editors, Hybrid Systems : Computation and Control, volume 1790 of Lecture Notes in Computer Science, pages 310-323. Springer Verlag, 2000.
20. Q.Zhao, B.H.Krogh, and P.Hubbard. Generating test inputs for embedded control systems. IEEE Control Systems Magazine, 23(4):49-57, 2003.
21. R.Alur, T.A.Henzinger, and P.-H Ho. Automatic symbolic verification of embedded systems. IEEE Transactions on Software Engineering, 22:181-201, 1996.
22. Hong Zhu, Patrick A. V. Hall, and John H.R. May. Software unit test coverage. ACM Computing Surveys, 29(4):366-427, 1997.