The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Safe motion planning in dynamic environments
Open accessAbstract
This paper addresses the problem of motion planning (MP) in dynamic environments. It is first argued that dynamic environments impose a real-time constraint upon MP: it has a limited time only to compute a motion, the time available being a function of the dynamicity of the environment. Now, given the intrinsic complexity of MP, computing a complete motion to the goal within the time available is impossible to achieve in most real situations. Partial motion planning (PMP) is the answer to this problem proposed in this paper. PMP is a motion planning scheme with an anytime flavor: when the time available is over, PMP returns the best partial motion to the goal computed so far. Like reactive navigation scheme, PMP faces a safety issue: what guarantee is there that the system will never end up in a critical situation yielding an inevitable collision? The answer proposed in this paper to this safety issue relies upon the concept of inevitable collision states (ICS). ICS takes into account the dynamics of both the system and the moving obstacles. By computing ICS-free partial motion, the system safety can be guaranteed. Application of PMP to the case of a car-like system in a dynamic environment is presented.
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Cites
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Kavraki, L. E., Svestka, P., Latombe, J.-C., & Overmars, M. H. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.508439 · Cited by 6,343 · cited 1×
“Fortunately, in the mid 90’s, probabilistic planners appeared [8] and brought a new powerful tool for rapid exploration of high dimensional state-time space, framework presented in [9] used for complex systems and dynamic environment description.”
Cited by
Planning-based prediction for pedestrians
Ziebart, B. D., Ratliff, N., Gallagher, G., Mertz, C., Peterson, K., Bagnell, J. A., Hebert, M., Dey, A. K., & Srinivasa, S. (2009) · 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2009.5354147 · Cited by 456
The Hybrid Reciprocal Velocity Obstacle
Snape, J., Berg, J. V. D., Guy, S. J., & Manocha, D. (2011) · IEEE Transactions on Robotics · doi:10.1109/tro.2011.2120810 · Cited by 448
CommonRoad: Composable benchmarks for motion planning on roads
Althoff, M., Koschi, M., & Manzinger, S. (2017) · 2017 IEEE Intelligent Vehicles Symposium (IV) · doi:10.1109/ivs.2017.7995802 · Cited by 443
Metadata
- Authors
- Petti, S., & Fraichard, T.
- Venue
- 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2005
- Pages
- 2210-2215
- OpenAlex
- W2000790002
- Cited by
- 264
- References
- 1
- FWCI
- 9.12
- Type
- conference paper
- Language
- en
- Open access
- green
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- Petti, S., & Fraichard, T. (2005). Safe motion planning in dynamic environments. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2005.1545549
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