Sparse Tangential Network (SPARTAN): Motion planning for micro aerial vehicles

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 2820-2825

  Cover, Hugh ^a   Choudhury, Sanjiban ^a   Scherer, Sebastian ^a   Singh, Sanjiv ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AERIAL VEHICLE; COMPUTATIONAL RESOURCES; CONNECTED GRAPH; DENSE VEGETATION; LOW LATENCY; MICRO AERIAL VEHICLE; OUTDOOR ENVIRONMENT; STATE OF THE ART;

LIGHT WEIGHT VEHICLES; MICRO AIR VEHICLE (MAV);

ROBOTICS;

EID: 84887274021     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6630967     Document Type: Conference Paper

References (19)

1. F. Kendoul, "Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems," Journal of Field Robotics, 2012.
2. C. Goerzen, Z. Kong, and B. Mettler, "A survey of motion planning algorithms from the perspective of autonomous uav guidance," Journal of Intelligent &Robotic Systems, vol. 57, no. 1, pp. 65-100, 2010.
3. D. Ferguson, M. Likhachev, and A. Stentz, "A guide to heuristicbased path planning," in Proceedings of the international workshop on planning under uncertainty for autonomous systems, international conference on automated planning and scheduling (ICAPS), 2005.
4. P. Tsenkov, J. Howlett, M. Whalley, G. Schulein, M. Takahashi, M. Rhinehart, and B. Mettler, "A system for 3d autonomous rotorcraft navigation in urban environments," in AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, HI, 2008.
5. M. Whalley, P. Tsenkov, M. Takahashi, G. Schulein, and G. Goerzen, "Field-testing of a helicopter uav obstacle field navigation and landing system," in 65th Annual Forum of the American Helicopter Society, Grapevine, TX, 2009.
6. L. Kavraki, P. Svestka, J. Latombe, and M. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," Robotics and Automation, IEEE Transactions on, vol. 12, no. 4, pp. 566-580, 1996.
7. S. LaValle, "Rapidly-exploring random trees a new tool for path planning," 1998.
8. S. Karaman and E. Frazzoli, "Incremental sampling-based algorithms for optimal motion planning," in Proc. Robotics: Science and Systems, 2010.
9. S. LaValle, Planning algorithms. Cambridge Univ Pr, 2006.
10. D. Wooden and M. Egerstedt, "Oriented visibility graphs: Lowcomplexity planning in real-time environments," in Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on. IEEE, 2006, pp. 2354-2359.
11. G. Hoffmann, S. Waslander, and C. Tomlin, "Quadrotor helicopter trajectory tracking control," in AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, Hawaii, 2008.
12. Y. Kuwata and J. How, "Three dimensional receding horizon control for uavs," in AIAA Guidance, Navigation, and Control Conference and Exhibit, vol. 3, 2004, pp. 2100-2113.
13. S. Hrabar, "Reactive obstacle avoidance for rotorcraft uavs," in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on. IEEE, 2011, pp. 4967-4974.
14. S. Scherer, S. Singh, L. J. Chamberlain, and M. Elgersma, "Flying fast and low among obstacles: Methodology and experiments," The International Journal of Robotics Research, vol. 27, no. 5, pp. 549-574, May 2008.
15. S. Scherer, J. Rehder, S. Achar, H. Cover, A. Chambers, S. Nuske, and S. Singh, "River mapping from a flying robot: state estimation, river detection, and obstacle mapping," Autonomous Robots, pp. 1-26, 2012.
16. B. Lau, C. Sprunk, and W. Burgard, "Improved updating of euclidean distance maps and voronoi diagrams," in IEEE Intl. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 2010.
17. D. Rina and J. Pearl, "Generalized best-first search strategies and the optimality of a," Journal of the ACM, vol. 32, no. 3, pp. 505-536, 1985.
18. J.-C. Latombe, Robot motion planning. Springer, 1991.
19. T. Hales, "A proof of the kepler conjecture," The Annals of Mathematics, vol. 162, no. 3, pp. 1065-1185, 2005.