An RRT-based algorithm for testing and validating multi-robot controllers

Robotics: Science and Systems

Volumn 1, Issue , 2005, Pages 249-256

  Kim, Jongwoo ^a   Esposito, Joel M ^b   Kumar, Vijay ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

^b UNITED STATES NAVAL ACADEMY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; MOTION PLANNING; PROBABILITY DISTRIBUTIONS; ROBOTICS; ROBOTS; TREES (MATHEMATICS);

COMPUTATIONAL STATISTICS; DISTANCE FUNCTIONS; LARGE-SCALE EXAMPLES; MOTION PLANNING PROBLEMS; MULTI ROBOT CONTROLLERS; MULTI-AGENT CONTROLLERS; RAPIDLY-EXPLORING RANDOM TREES; VALIDATION PROBLEM;

MULTI AGENT SYSTEMS;

EID: 33845658697     PISSN: None     EISSN: 2330765X     Source Type: Conference Proceeding    
DOI: 10.15607/rss.2005.i.033     Document Type: Conference Paper

References (18)

1. Calin Belta, Joel M. Esposito, Jongwoo Kim, and Vijay Kumar. Computational techniques for analysis of genetic network dynamics. International Journal of Robotics Research, 24(2-3):219-235, 2005.
2. 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.
3. Michael S. Branicky, Michael M. Curtiss, Joshua Levine, and Stuart Morgan. RRTs for nonlinear, discrete, and hybrid planning and control. In IEEE Conference on Decision and Control, December 2003.
4. Luiz Chaimowicz, Nathan Michael, and Vijay Kumar. Controlling swarms of robots using interpolated implicit functions. In IEEE International Conference on Robotics and Automation, 2005.
5. 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.
6. Alongkrit Chutinam and Bruce Krogh. Computational techniques for hybrid system verification. IEEE transactions on automatic control, 48(1):64-75, 2003.
7. Joel M. Esposito, Jongwoo Kim, and Vijay Kumar. Adaptive RRTs for validating hybrid robotic control systems. In International Workshop on the Algorithmic Foundations of Robotics, Zeist, Netherlands, 2004.
8. E. Frazzoli, M.A. Dahleh, and E. Feron. Real-Time motion planning for agile autonomous vehicles. In AIAA Confernce on guidance, navigation and control, August 2000.
9. 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.
10. 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.
11. 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.
12. Steven M. LaValle and Michael S. Branicky. On the relationship between classical grid search and probabilistic roadmaps. In International Workshop on the Algorithmic Foundations of Robotics. December 2002.
13. Steven M. LaValle and James J. Kuffner. Randomized kinodynamic planning. International Journal of Robotics Research, 20(5):378-400, 2001.
14. 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.
15. Joshua A. Levine. Sampling-based planning for hybrid systems. Master's thesis, Case Western Reserve University, September 2003.
16. S. R. Lindermann and S. M. LaValle. Incrementally reducing dispersion by increasing Voronoi bias in RRTs. IEEE Internation Conference on Robotics and Automation, 2004.
17. 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.
18. R.Alur, T.A.Henzinger, and P.-H Ho. Automatic symbolic verification of embedded systems. IEEE Transactions on Software Engineering, 22:181-201, 1996.