ITOMP: Incremental trajectory optimization for real-time replanning in dynamic environments

ICAPS 2012 - Proceedings of the 22nd International Conference on Automated Planning and Scheduling

Volumn , Issue , 2012, Pages 207-215

  Park, Chonhyon ^a   Pan, Jia ^a   Manocha, Dinesh ^a  

^a UNIVERSITY OF NORTH CAROLINA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION-FREE TRAJECTORY; DYNAMIC ENVIRONMENTS; DYNAMICS CONSTRAINTS; GLOBAL MOTION; OPTIMIZATION-BASED ALGORITHM; PLANNING AND EXECUTION; PLANNING HORIZONS; PRIORI KNOWLEDGE; RE-PLANNING; ROBOT ARMS; STOCHASTIC TRAJECTORIES; TRAJECTORY OPTIMIZATION;

AERODYNAMICS; ALGORITHMS; OPTIMIZATION; ROBOT PROGRAMMING; TRAJECTORIES;

COLLISION AVOIDANCE;

EID: 84866449359     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (29)

1. Bekris, K., and Kavraki, L. 2007. Greedy but safe replanning under kinodynamic constraints. In Robotics and Automation, 2007 IEEE International Conference on, 704-710.
2. Brock, O., and Khatib, O. 2002. Elastic strips: A framework for motion generation in human environments. International Journal of Robotics Research 21(12):1031-1052.
3. Chen, P., and Hwang, Y. 1998. Sandros: a dynamic graph search algorithm for motion planning. IEEE Transactions on Robotics and Automation 14(3):390-403.
4. Devaurs, D.; Simeon, T.; and Cortes, J. 2011. Parallelizing rrt on distributed-memory architectures. In Proceedings of IEEE International Conference on Robotics and Automation, 2261-2266.
5. Dragan, A.; Ratliff, N.; and Srinivasa, S. 2011. Manipulation planning with goal sets using constrained trajectory optimization. In Proceedings of IEEE International Conference on Robotics and Automation, 4582-4588.
6. Fiorini, P., and Shiller, Z. 1998. Motion planning in dynamic environments using velocity obstacles. International Journal of Robotics Research 17(7):760-772.
7. Garber, M., and Lin, M. C. 2004. Constraint-based motion planning using voronoi diagrams. In Algorithmic Foundations of Robotics V, volume 7 of Springer Tracts in Advanced Robotics. 541-558.
8. Gottschalk, S.; Lin, M. C.; and Manocha, D. 1996. Obbtree: a hierarchical structure for rapid interference detection. In SIGGRAPH, 171-180.
9. Hauser, K. 2012. On responsiveness, safety, and completeness in real-time motion planning. Autonomous Robots 32(1):35-48.
10. Hsu, D.; Kindel, R.; Latombe, J.-C.; and Rock, S. 2002. Randomized kinodynamic motion planning with moving obstacles. International Journal of Robotics Research 21(3):233-255.
11. Kalakrishnan, M.; Chitta, S.; Theodorou, E.; Pastor, P.; and Schaal, S. 2011. STOMP: Stochastic trajectory optimization for motion planning. In Proceedings of IEEE International Conference on Robotics and Automation, 4569-4574.
12. Kavraki, L.; Svestka, P.; Latombe, J. C.; and Overmars, M. 1996. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation 12(4):566-580.
13. Koenig, S.; Tovey, C.; and Smirnov, Y. 2003. Performance bounds for planning in unknown terrain. Artificial Intelligence 147(1-2):253-279.
14. Kuffner, J., and LaValle, S. 2000. RRT-connect: An efficient approach to single-query path planning. In Proceedings of IEEE International Conference on Robotics and Automation, 995-1001.
15. LaValle, S. M. 2006. Planning Algorithms. Cambridge University Press.
16. Likhachev, M., and Ferguson, D. 2009. Planning long dynamically feasible maneuvers for autonomous vehicles. International Journal of Robotics Research 28(8):933-945.
17. Likhachev, M.; Ferguson, D.; Gordon, G.; Stentz, A.; and Thrun, S. 2005. Anytime dynamic A*: An anytime, replanning algorithm. In Proceedings of the International Conference on Automated Planning and Scheduling.
18. Pan, J.; Lauterbach, C.; and Manocha, D. 2010. g-Planner: Real-time motion planning and global navigation using GPUs. In Proceedings of AAAI Conference on Artificial Intelligence.
19. Pan, J.; Zhang, L.; and Manocha, D. 2011. Collision-free and curvature-continuous path smoothing in cluttered environments. In Proceedings of Robotics: Science and Systems.
20. Park, C.; Pan, J.; and Manocha, D. 2012. Real-time optimization-based planning in dynamic environments using GPUs. Technical report, Department of Computer Science, University of North Carolina at Chapel Hill.
21. Petti, S., and Fraichard, T. 2005. Safe motion planning in dynamic environments. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2210-2215.
22. Phillips, M., and Likhachev, M. 2011a. Planning in domains with cost function dependent actions. In Proceedings of AAAI Conference on Artificial Intelligence.
23. Phillips, M., and Likhachev, M. 2011b. SIPP: Safe interval path planning for dynamic environments. In Proceedings of IEEE International Conference on Robotics and Automation, 5628-5635.
24. Quinlan, S., and Khatib, O. 1993. Elastic bands: connecting path planning and control. In Proceedings of IEEE International Conference on Robotics and Automation, 802-807 vol.2.
25. Ratliff, N.; Zucker, M.; Bagnell, J. A. D.; and Srinivasa, S. 2009. CHOMP: Gradient optimization techniques for efficient motion planning. In Proceedings of International Conference on Robotics and Automation, 489-494.
26. Sud, A.; Otaduy, M. A.; and Manocha, D. 2004. DiFi: Fast 3d distance field computation using graphics hardware. Computer Graphics Forum 23(3):557-566.
27. van den Berg, J., and Overmars, M. 2005. Roadmap-based motion planning in dynamic environments. IEEE Transactions on Robotics 21(5):885-897.
28. Vernaza, P., and Lee, D. D. 2011. Learning dimensional descent for optimal motion planning in high-dimensional spaces. In Proceedings of AAAI Conference on Artificial Intelligence.
29. Wilkie, D.; van den Berg, J. P.; and Manocha, D. 2009. Generalized velocity obstacles. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 5573-5578.