Alexandre R. Fonseca

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This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead of decomposing the robot configuration space into " free " and " occupied " , we consider the existence of several regions with different navigation costs. Costs are determined experimentally by navigating(More)
— This paper addresses the problem of efficiently computing robot navigation functions. Navigation functions are potential functions free of spurious local minima that present an exact solution to the robot motion planning and control problem. Although some methodologies were found in the literature, none of them are easy to implement and generalize for(More)
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