Randomized Kinodynamic Planning

@article{LaValle2001RandomizedKP,
  title={Randomized Kinodynamic Planning},
  author={S. LaValle and J. Kuffner},
  journal={The International Journal of Robotics Research},
  year={2001},
  volume={20},
  pages={378 - 400}
}
  • S. LaValle, J. Kuffner
  • Published 2001
  • Mathematics
  • The International Journal of Robotics Research
  • 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… CONTINUE READING
    1,672 Citations
    Randomized kinodynamic planning
    • S. LaValle, J. Kuffner
    • Mathematics, Computer Science
    • Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
    • 1999
    • 1,274
    • PDF
    Kinodynamic Motion Planning on Vector Fields using RRT *
    • PDF
    Randomized Kinodynamic Motion Planning with Moving Obstacles
    • 789
    • PDF
    Kinodynamic motion planning: connecting exploration trees using trajectory optimization Methods
    • F. Lamiraux, E. Ferre, Erwan Vallee
    • Mathematics, Computer Science
    • IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
    • 2004
    • 58
    • PDF
    Kinodynamic motion planning amidst moving obstacles
    • R. Kindel, D. Hsu, J. Latombe, S. Rock
    • Engineering, Computer Science
    • Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
    • 2000
    • 139
    • PDF
    High-dimensional underactuated motion planning via task space control
    • 37
    • Highly Influenced
    • PDF
    Complementarity-based dynamic simulation for kinodynamic motion planning
    • 7
    • Highly Influenced
    • PDF
    Kinodynamic Region Rapidly-exploring Random Trees ( KRRRTs )
    • PDF
    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
    • 10
    • Highly Influenced
    • PDF

    References

    SHOWING 1-10 OF 77 REFERENCES
    Randomized kinodynamic planning
    • S. LaValle, J. Kuffner
    • Mathematics, Computer Science
    • Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
    • 1999
    • 1,274
    • PDF
    Kinodynamic motion planning amidst moving obstacles
    • R. Kindel, D. Hsu, J. Latombe, S. Rock
    • Engineering, Computer Science
    • Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
    • 2000
    • 139
    • PDF
    The Jogger's Problem: Control of Dynamics in Real-time Motion Planning
    • 17
    • PDF
    Kinodynamic motion planning
    • 286
    • Highly Influential
    • PDF
    An exact algorithm for kinodynamic planning in the plane
    • 62
    • PDF
    Robot Motion Planning: A Distributed Representation Approach
    • 1,126
    Planning a minimum-time trajectories for robot arms
    • G. Sahar, J. Hollerbach
    • Computer Science
    • Proceedings. 1985 IEEE International Conference on Robotics and Automation
    • 1985
    • 120
    • PDF
    Kinodynamic motion planning for all-terrain wheeled vehicles
    • Moëz Cherif
    • Engineering, Computer Science
    • Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
    • 1999
    • 36
    Provably good approximation algorithms for optimal kinodynamic planning for Cartesian robots and open chain manipulators
    • 37
    • PDF