A probabilistic algorithm for mode based motion planning of agile unmanned air vehicles in complex E

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 17, Issue 1 PART 1, 2008, Pages

  Koyuncu, Emre ^a   Üre, Nazim Kemal ^a   Inalhan, Gokhan ^a  

^a NONE

Author keywords

Aerospace applications; Algorithms and software; Control problems under conflict and or uncertainties

Indexed keywords

CLOSED FORM; COMPLEX ENVIRONMENTS; CONTROL PROBLEMS UNDER CONFLICT AND/OR UNCERTAINTIES; DESIGN CONTROLLERS; FLIGHT CONTROL; FLIGHT MODES; FLIGHT PATHS; IN-CONTROL; IN-LINE; LINE SEGMENT; LINE-OF-SIGHT; MANOEUVRING FLIGHT; MODE-BASED; NONUNIFORM; NUMERICAL SIMULATION; PROBABILISTIC ALGORITHM; PROBABILISTIC ROAD MAPS; PROBLEMATIC ISSUES; REACHABILITY TREE; REAL-TIME SOLUTIONS; SEARCH DIMENSIONS; STATE SOLUTION; TRAJECTORY PLANNING; UNMANNED AIR VEHICLES;

AEROSPACE APPLICATIONS; ALGORITHMS; COMPUTER SOFTWARE; REMOTELY OPERATED VEHICLES; THREE DIMENSIONAL; TRAJECTORIES; UNMANNED AERIAL VEHICLES (UAV);

PLANNING;

EID: 79961019345     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20080706-5-KR-1001.3923     Document Type: Conference Paper

References (29)

1. Boor, V. M.H. Overmars, F.v. Stappen (1999). The Gaussian Sampling Strategy for Probabilistic Roadmap Planners, In. Proc. IEEE Int. Conf. on Robotics & Automation, 1018-1023.
2. Cheng, P., Z. Shen, S.M. LaValle, (2001). RRT-Based Trajectory Design for Autonomous Automobiles and Spacecraft, Archives of Control Sciences, 11(3-4), 167-194.
3. Frazzoli, E., (2001). Robust Hybrid Control for Autonomous Vehicle Motion Planning, PhD Thesis, Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA.
4. Frazzoli, E., M.A. Dahleh and E. Feron (2002). Real-Time Motion Planning for Agile Autonomous Vehicles, AIAA J. of Guidance, Control, and Dynamics, 25(1), 116-129.
5. Ghosh, R., C. Tomlin (2000). Nonlinear inverse dynamic control for mode based flight, Proceedings of the AIAAGuidance, Navigation and Control Conference
6. Griffiths, S., J. Sanuders, A. Curtis, T. Maclain, R. Beard (2007). Obstacle and Terrain aviodance for miniature aerial vehicles, IEEE Robotics and Automation Magazine,Subimtted for review
7. Holleman, C., and L.E. Kavraki (2000). A Framework for Using the Workspace Medial Axis in PRM Planners. In Proceedings of the 2000 International Conference on Robotics and Automation (ICRA 2000), 1408-1413, IEEE Press, San Fransisco, CA.
8. Hsu, D., J.C. Latombe, and R. Motwani (1997). Path planning in expansive configuration spaces, In Proc. IEEE Int. Conf. on Robotics & Automation, 2719-2726.
9. Hsu, D. (2000). Randomized Single-query Motion Planning in Expansive Spaces, Ph.D. Thesis, Dept. of Computer Science, Stanford University, Stanford, CA.
10. Hsu, D., R. Kindel, J.C. Latombe, S. Rock (2002). Randomized Kinodynamic Motion Planning with Moving Obstacles ,Int. J. of Robotics Research, 21(3), 233-255.
11. Hsu, D., T. Jiang, J. Reif, and Z. Sun (2003). Bridge Test for Sampling Narrow Passages with Probabilistic Roadmap Planners, In Proc. IEEE Int. Conf. Robotics & Automation (ICRA), 4420-4426.
12. Hsu, D., J.C. Latombe, and H. Kurniawati (2006). On the Probabilistic Foundations of Probabilistic Roadmap Planning, Int. J. of Robotics Research, 25(7), 627-643. (Pubitemid 43936805)
13. Inalhan G., D.M. Stipanovic, C.J. Tomlin (2002), Decentralized Optimization, with Application to Multiple Aircraft Coordination, in the Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas.
14. Kavraki, L.E., P. Svestka, J.C. Latombe, and M. Overmars (1996). Probabilistic Roadmaps for Path Planning in High Dimensional Configuration Spaces, IEEE Transactions on Robotics and Automation, 12(4), 566-580.
15. Kurniawati, H., and D. Hsu (2004). Workspace importance sampling for probabilistic roadmap planning, IEEE/RSJ Int. Conf. on Intelligent Robots Systems. (Pubitemid 40275830)
16. Ladd, A.M. and L.E. Kavraki (2005). Motion Planning in the presence of drift, underactuation and discrete dystem changes. In Robotics: Science and Systems I,233-241, MIT Press, Boston, MA.
17. LaValle, S.M. (1998). Rapidly-exploring random trees: A new tool for path planning, Technical Report 11, Computer Science Dept., Iowa State University.
18. LaValle, S.M. (2002). From dynamic programming to RRTs: Algorithmic Design of feasible trajectories, Control Problems in Robotics, 19-37. Springer-Verlag, Berlin.
19. LaValle, S.M., J.J. Kuffner (2001). Raandomized kinodynamic Planning, Int. Journal of Robotic Research, 20(5), 378-400.
20. Lien, J.M., S.L. Thomas, and N.M. Amato (2003). In Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 4439-4444, Taipei, Taiwan.
21. Lindemann, S.R., S.M. LaValle (2005). Current issues in sampling-based motion planning, Robotics Research: The Eleventh International Symposium, 36-54, Springer-Verlag, Berlin.
22. Plaku, E., M.Y. Vardi, L.E. Kavraki (2007). Discrete search leading continuous exploration for kinodynamic motion planning, Robotics: Science and Systems, Atlanta, Georgia.
23. Rodriguez, S., S. Thomas, R. Pearce and N.M. Amato (2006). RESAMPL: A Region-Sensitive Adaptive Motion Planner, Proc. Int. Workshop. on Algorithmic Foundation of Robotics (WAFR), New York City, NY.
24. Saha, M., J.C. Latombe, (2005). Finding Narrow Passages with Probabilistic Roadmaps: The Small-Step Retraction Method, EEE/RSJ Conf. on Intelligent Robots and Systems, Edmonton, Canada.
25. Sanchez, G., J.C. Latombe (2003). A single-query bidirectional probabilistic roadmap planner with lazy collision checking, Int. Journal of Robotics Researches, 403-407.
26. Schouwenaars T., E. Feron, J. How (2004). Hybrid model for receding horizon guidance of agile autonomous rotorcraft, In Proceedings of IFAC Symposium on Automatic Control, St. Petersburg Russia
27. Tomlin C., J. Lygeros, L. Benvenuti ,S. Sastry (1995) Output tracking for a non-minimum phase dynamics CTOL aircraft model, Proceedings of 34th IEEE Conference on Decision and Control
28. Tsianos, K.I., I.A. Sucan, L.E. Kavraki (2007). Samplingbased robot motion planning: Towards realistic applications. Computer Science Review, pp. (accepted for publication)
29. Ure, N.K., G. Inalhan (2008). Design of a Full-Envelope Nonlinear Flight Controls for an Aggresive Maneuvering F-16 Aircraft, Controls and Avionics Laboratory Report.