Survivability: Measuring and ensuring path diversity

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 2068-2073

  Erickson, Lawrence H ^a   Lavalle, Steven M ^a  

^a University of Illinois at Urbana Champaign   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BREADTH-FIRST SEARCH; CHI-SQUARE TESTS; CONTROL SPACES; EFFICIENT ALGORITHM; NOVEL CRITERION; PATH DIVERSITY; REAL-TIME PLANNING; UNIFORM COVERAGE; UNIFORM SAMPLING;

ALGORITHMS;

ROBOTICS;

EID: 70350365075     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152773     Document Type: Conference Paper

References (15)

1. M. S. Branicky, R. A. Knepper, and J. J. Kuffner, "Path and trajectory diversity: Theory and algorithms," in Proc. IEEE International Conference on Robotics and Automation, 2008, pp. 1359-1364.
2. E. Frazzoli, M. A. Dahleh, and E. Feron, "Maneuver-based motion planning for nonlinear systems with symmetries," IEEE Transactions on Robotics, vol.21, no.6, pp. 1077-1091, Dec. 2005.
3. J. Go, T. Vu, and J. J. Kuffner, "Autonomous behaviors for interactive vehicle animations," in ACM SIGGRAPH Symposium on Computer Animation, 2004.
4. C. J. Green and A. Kelly, "Toward optimal sampling in the space of paths," in International Symposium of Robotics Research, 2007.
5. J.-C. Latombe, "A fast path planner for a car-like indoor mobile robot," in Proceedings AAAI National Conference on Artificial Intelligence, 1991, pp. 659-665.
6. S. M. LaValle, Planning Algorithms. Cambridge, UK: Cambridge University Press, 2006, also available at http://msl.cs.uiuc.edu/planning/.
7. S. M. LaValle, M. S. Branicky, and S. R. Lindemann, "On the relationship between classical grid search and probabilistic roadmaps," International Journal of Robotics Research, vol. 23, no. 7/8, pp. 673- 692, July/August 2004.
8. S. M. LaValle and J. J. Kuffner, "Rapidly-exploring random trees: Progress and prospects," in Algorithmic and Computational Robotics: New Directions, B. R. Donald, K. M. Lynch, and D. Rus, Eds. Wellesley, MA: A K Peters, 2001, pp. 293-308.
9. D. Mateus, G. Avina, and M. Devy, "Robot visual navigation in semi-structured outdoor environments," in Proc. IEEE International Conference on Robotics and Automation, Apr. 2005, pp. 4691-4696. (Pubitemid 46084519)
10. R. M. Murray and S. Sastry, "Nonholonomic motion planning: Steering using sinusoids," IEEE Transactions on Automatic Control, vol.38, no.5, pp. 700-716, 1993.
11. H. Niederreiter, Random Number Generation and Quasi-Monte-Carlo Methods. Philadelphia: Society for Industrial and Applied Mathematics, 1992.
12. M. Pivtoraiko and A. Kelly, "Generating near minimal spanning control sets for constrained motion planning in discrete state spaces," in Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005.
13. S. Ramamoorthy, R. Rajagopal, Q. Ruan, and L. Wenzel, "Lowdiscrepancy curves and efficient coverage of space," in Proc. Workshop on the Algorithmic Foundations of Robotics, New York, July 2006.
14. A. G. Sukharev, "Optimal strategies of the search for an extremum," U.S.S.R. Computational Mathematics and Mathematical Physics, vol.11, no.4, 1971, translated from Russian, Zh. Vychisl. Mat. i Mat. Fiz., 11, 4, 910-924, 1971.
15. J. G. van der Corput, "Verteilungsfunktionen I," Akademie van Weten- schappen, vol.38, pp. 813-821, 1935.