Jérôme Barraquand

Learn More
The authors investigate a path planning approach that consists of concurrently building and searching a graph connecting the local minima of a numerical potential field defined over the robot's configuration space. They describe techniques for constructing 'good' potentials and efficient methods for dealing with the local minima of these functions. These(More)
We consider mobile robots made of a single body (car-like robots) or several bodies (tractors towing several trailers sequentially hooked). These robots are known to be nonholonomic, i.e., they are subject to nonintegrable equality kinematic constraints involving the velocity. In other words, the number of controls (dimension of the admissible velocity(More)
Several randomized path planners have been proposed during the last few years. Their attractiveness stems from their applicability to virtually any type of robots, and their empirically observed success. In this paper we attempt to present a unifying view of these planners and to theoretically explain their success. First, we introduce a general planning(More)