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} }
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
Figures and Tables from this paper
1,672 Citations
Randomized kinodynamic planning
- Mathematics, Computer Science
- Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
- 1999
- 1,274
- PDF
Randomized Kinodynamic Motion Planning with Moving Obstacles
- Mathematics, Computer Science
- Int. J. Robotics Res.
- 2002
- 789
- PDF
Kinodynamic motion planning: connecting exploration trees using trajectory optimization Methods
- Mathematics, Computer Science
- IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
- 2004
- 58
- PDF
Kinodynamic motion planning amidst moving obstacles
- 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
- Mathematics, Computer Science
- 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
- 2008
- 37
- Highly Influenced
- PDF
Complementarity-based dynamic simulation for kinodynamic motion planning
- Mathematics, Computer Science
- 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
- 2009
- 7
- Highly Influenced
- PDF
Toward a real-time framework for solving the kinodynamic motion planning problem
- 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
- 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
- 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
- Mathematics, Computer Science
- Autom.
- 1997
- 17
- PDF
An exact algorithm for kinodynamic planning in the plane
- Mathematics, Computer Science
- Discret. Comput. Geom.
- 1991
- 62
- PDF
Robot Motion Planning: A Distributed Representation Approach
- Mathematics, Computer Science
- Int. J. Robotics Res.
- 1991
- 1,126
Planning a minimum-time trajectories for robot arms
- Computer Science
- Proceedings. 1985 IEEE International Conference on Robotics and Automation
- 1985
- 120
- PDF
Kinodynamic motion planning for all-terrain wheeled vehicles
- 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
- Mathematics, Computer Science
- SCG '90
- 1990
- 37
- PDF