Randomized kinodynamic planning

@article{LaValle1999RandomizedKP,
  title={Randomized kinodynamic planning},
  author={Steven M. LaValle and James J. Kuffner},
  journal={Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)},
  year={1999},
  volume={1},
  pages={473-479 vol.1}
}
  • S. LaValle, J. Kuffner
  • Published 10 May 1999
  • Mathematics
  • Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
The paper presents a state-space perspective on the kinodynamic planning problem, and introduces a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems. By using a state space formulation, the kinodynamic planning problem is treated as a 2n-dimensional nonholonomic planning problem, derived from an n-dimensional configuration space. The state space serves the same role as the configuration space for basic path planning. The… 
View on IEEE
www1.cs.columbia.edu
1,532 Citations
Highly Influential Citations
185
Background Citations
611
Methods Citations
473
Results Citations
11

1,532 Citations

Citation Type

Citation Type

Randomized Kinodynamic Planning
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…
Randomized Kinodynamic Planning for Constrained Systems
TLDR
This paper presents an extension of the kinodynamic RRT planner that constructs an atlas of the state-space manifold incrementally, and uses this atlas both to generate random states and to dynamically steer the system towards such states.
- : Mechanics of Manipulation – Paper Review Randomized Kinodynamic Planning
LaValle & Kuffner [] present an application of a randomized technique to the problem of kinodynamic planning. Their algorithm constructs Rapidly-exploring Random Trees (RRTs) in a high dimensional…
Kinodynamic Planning on Constraint Manifolds
TLDR
This paper presents a motion planner for systems subject to kinematic and dynamic constraints, and is the first randomized kinodynamic planner for implicitly-defined state spaces.
Kinodynamic motion planning
  • A. Rosiglioni, M. Simina
  • Engineering
    SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483)
  • 2003
TLDR
An algorithm for determining feed-forward control values, which in the absence of disturbances and uncertainties, provide a plan to move a system from an initial state to a goal state, in minimum-time, is proposed.
A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems
TLDR
This article presents a kinodynamic RRT planner that constructs an atlas of the state space incrementally, and uses this atlas to generate random states, and to dynamically steer the system toward such states, the first kinodynamic planner that explicitly takes closed kinematic chains into account.
Asymptotically Optimal Planning by Feasible Kinodynamic Planning in a State–Cost Space
TLDR
The meta-algorithm is demonstrated to perform, using the expansive space tree and rapidly-exploring random tree algorithms as subroutines, at a level that is superior or comparable to related planners.
Kinodynamic randomized rearrangement planning via dynamic transitions between statically stable states
TLDR
This work presents a fast kinodynamic RRT-planner that uses dynamic nonprehensile actions to rearrange cluttered environments and shows that it can exploit the physical fact that in an environment with friction any object eventually comes to rest to exploit a search on the configuration space rather than the state space.
Combining space exploration and heuristic search in online motion planning for nonholonomic vehicles
TLDR
The contribution of this work is the development of a Space Exploration Guided Heuristic Search with a circle-path based heuristics and adaptable search step size, which is grid-free and able to plan nonholonomic vehicle motions under kinodynamic constraints.
Greedy but Safe Replanning under Kinodynamic Constraints
TLDR
A new tree-based planner is presented that explicitly deals with kinodynamic constraints and addresses the safety issues when planning under finite computation times, meaning that the vehicle avoids collisions in its evolving configuration space.
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 90 REFERENCES
Randomized Kinodynamic Planning
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…
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.
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…
Rapidly-exploring random trees : a new tool for path planning
We introduce the concept of a Rapidly-exploring Random Tree (RRT) as a randomized data structure that is designed for a broad class of path planning problems. While they share many of the bene cial…
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.
Kinodynamic motion planning for all-terrain wheeled vehicles
  • Moëz Cherif
  • Engineering
    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.
Planning a minimum-time trajectories for robot arms
TLDR
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.
The Jogger's Problem: Control of Dynamics in Real-time Motion Planning
Motion planning for controllable systems without drift
TLDR
A general strategy for solving the motion planning problem for real analytic, controllable systems without drift is proposed, and an iterative algorithm is derived that converges very quickly to a solution.
A method of progressive constraints for nonholonomic motion planning
  • Pierre Ferbach
  • Mathematics
    Proceedings of IEEE International Conference on Robotics and Automation
  • 1996
TLDR
Presents a general method for nonholonomic motion planning (NMP), that is able to solve problems for systems with high-dimensional configuration spaces, by introducing progressively constrained constraints in an iterative algorithm.
...
1
2
3
4
5
...