Randomized Kinodynamic Planning

@article{LaValle2001RandomizedKP,
  title={Randomized Kinodynamic Planning},
  author={Steven M. LaValle and James J. Kuffner},
  journal={The International Journal of Robotics Research},
  year={2001},
  volume={20},
  pages={378 - 400}
}
This paper presents the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design). The task is to determine control inputs to drive a robot from an ini ial configuration and velocity to a goal configuration and velocity while obeying physically based dynamical models and avoiding obstacles in the robot’s environment. The authors consider generic systems that express the nonlinear dynamics of a robot in terms of the robot’s high-dimensional… 
Randomized kinodynamic planning
  • S. LaValle, J. Kuffner
  • Mathematics
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
TLDR
A state-space perspective on the kinodynamic planning problem is presented, and a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems is introduced.
Kinodynamic motion planning: connecting exploration trees using trajectory optimization Methods
TLDR
This paper proposes a solution to cope with the complexity issue of motion planning for complex dynamic systems for which no steering method is known by running a tree exploration method with a big neighborhood and locally modifying the trajectory to make it reach exactly the goal.
Kinodynamic motion planning amidst moving obstacles
  • R. Kindel, David Hsu, J. Latombe, S. Rock
  • Computer Science
    Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
  • 2000
This paper presents a randomized motion planner for kinodynamic asteroid avoidance problems, in which a robot must avoid collision with moving obstacles under kinematic, dynamic constraints and reach
Kinodynamic Planning on Constraint Manifolds IRI Technical Report Ricard Bordalba
TLDR
This report presents a motion planner for systems subject to kinematic and dynamic constraints, and is the first randomized kinodynamic planner for implicitly-defined state spaces.
High-dimensional underactuated motion planning via task space control
TLDR
This work presents a model-based dimensionality reduction technique based on an extension of partial feedback linearization control into a task-space framework which allows one to plan motions for a complex underactuated robot directly in a low-dimensional task- space, and to resolve redundancy with lower-priority tasks.
Complementarity-based dynamic simulation for kinodynamic motion planning
TLDR
In cluttered environments, using a complementarity-based dynamic simulation algorithm, one can find a feasible input that is relatively insensitive to the choice of Δt and the discretization resolution of the input set.
Kinodynamic Region Rapidly-exploring Random Trees ( KRRRTs )
TLDR
A novel method that allows the user to specify attract or repel regions that the planner will concentrate or avoid planning, then applies KRRT’s motion constraints to the problem, and it is found that utilizing regions made the planner up to six times faster than KRRT.
Toward a real-time framework for solving the kinodynamic motion planning problem
  • R. Allen, M. Pavone
  • Computer Science
    2015 IEEE International Conference on Robotics and Automation (ICRA)
  • 2015
TLDR
A framework combining techniques from sampling-based motion planning, machine learning, and trajectory optimization to address the kinodynamic motion planning problem in real-time environments is proposed and demonstrated to reduce online planning times up to six orders of magnitude.
Kinodynamic motion planning for high-dimensional physical systems
This thesis presents a kinodynamic motion planner, Kinodynamic Motion Planning by Interior-Exterior Cell Exploration (KPIECE), specifically designed for systems with complex dynamics, where
Sampling-Based Motion Planning for Uncertain High-Dimensional Systems via Adaptive Control
TLDR
A feedback control scheme is developed that tracks a given reference trajectory within certain bounds, while simultaneously compensating for potential uncertainty in the dynamical parameters of the robot (masses, moments of inertia) and external disturbances.
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References

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Randomized kinodynamic planning
  • S. LaValle, J. Kuffner
  • Mathematics
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
TLDR
A state-space perspective on the kinodynamic planning problem is presented, and a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems is introduced.
Kinodynamic motion planning amidst moving obstacles
  • R. Kindel, David Hsu, J. Latombe, S. Rock
  • Computer Science
    Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
  • 2000
This paper presents a randomized motion planner for kinodynamic asteroid avoidance problems, in which a robot must avoid collision with moving obstacles under kinematic, dynamic constraints and reach
Kinodynamic motion planning
TLDR
This work considers the simplified case of a point mass under Newtonian mechanics, together with velocity and acceleration bounds, and provides the first provably good approximation algorithm, and shows that it runs in polynomial time.
An exact algorithm for kinodynamic planning in the plane
TLDR
A tracking lemma and a loop-elimination theorem are proved, both of which are applicable to the case of arbitrary norms, and a path which intersects itself can be replaced by one which does not do so and which takes time less than or equal to that taken by the original path.
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We propose a new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space. A
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The results presented show that, in general, the optimal paths are not straight lines, but rather curves in joint-space that utilize the dynamics of the arm and gravity to help in moving the arm faster to its destination.
Kinodynamic motion planning for all-terrain wheeled vehicles
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    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
TLDR
A two-level algorithm that incorporates appropriate physical models of the robot, the terrain and their interaction to cope with kinodynamic aspects in all-terrain vehicle motion planning and demonstrates the approach in the case of a six-wheeled articulated vehicle.
Provably good approximation algorithms for optimal kinodynamic planning for Cartesian robots and open chain manipulators
TLDR
A generalized trajectory-tracking lemma for robots with coupled dynamics bounds is proved and polynomial-time approximation algorithms for Cartesian robots obeying dynamics bounds and open kinematic chain manipulators with revolute and prismatic joints are described.
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