TY - GEN
T1 - Generalization of v* path planning for accommodation of amortized dynamic uncertainties in plan execution
AU - Chattopadhyay, Ishanu
AU - Ray, Asok
PY - 2009
Y1 - 2009
N2 - A significant generalization to the language-measuretheoretic path planning algorithm is presented that accounts for average dynamic uncertainties in plan execution. The planning problem thus can be solved with parametric input from the dynamics of the robotic platform under consideration. Applicability of the algorithm is demonstrated in a simulated maze solution and by experimental validation on a mobile robotic platform in the laboratory environment.
AB - A significant generalization to the language-measuretheoretic path planning algorithm is presented that accounts for average dynamic uncertainties in plan execution. The planning problem thus can be solved with parametric input from the dynamics of the robotic platform under consideration. Applicability of the algorithm is demonstrated in a simulated maze solution and by experimental validation on a mobile robotic platform in the laboratory environment.
UR - https://www.scopus.com/pages/publications/70449642556
UR - https://www.scopus.com/pages/publications/70449642556#tab=citedBy
U2 - 10.1109/ACC.2009.5160367
DO - 10.1109/ACC.2009.5160367
M3 - Conference contribution
AN - SCOPUS:70449642556
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 2415
EP - 2420
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -