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This paper deals with the problem of simulating the behaviour of a mobile robot moving on a terrain along a precomputed nominal path. The nominal path is supposed to be provided by a planner. The purpose of the simulator is to instantiate the nominal path into a complete trajectory, while verifying that a set of constraints is satissed all along the motion.(More)
In this paper, we propose a mixed approach for motion planning that decomposes the problem into two levels. At the global level, we build a graph whose nodes represent relatively large cells of the Configuration Space of the robotic system. Adjacent cells are connected by edges weighted by the probability for the local planner to succeed in computing a(More)