The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Elastic bands: connecting path planning and control
Abstract
Elastic bands are proposed as the basis for a framework to close the gap between global path planning and real-time sensor-based robot control. An elastic band is a deformable collision-free path. The initial shape of the elastic is the free path generated by a planner. Subjected to artificial forces, the elastic band deforms in real time to a short and smooth path that maintains clearance from the obstacles. The elastic continues to deform as changes in the environment are detected by sensors, enabling the robot to accommodate uncertainties and react to unexpected and moving obstacles. While providing a tight connection between the robot and its environment, the elastic band preserves the global nature of the planned path. The framework is outlined, and an efficient implementation based on bubbles is discussed.>
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Citations
Cites
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
Self-citation
Cited by
CHOMP: Gradient optimization techniques for efficient motion planning
Ratliff, N., Zucker, M., Bagnell, J. A., & Srinivasa, S. (2009) · 2009 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2009.5152817 · Cited by 992
Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight
Zhou, B., Gao, F., Wang, L., Liu, C., & Shen, S. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2927938 · Cited by 747
A dynamical system approach to realtime obstacle avoidance
Khansari-Zadeh, S. M., & Billard, A. (2012) · Autonomous Robots · doi:10.1007/s10514-012-9287-y · Cited by 264
Feature-Based Prediction of Trajectories for Socially Compliant Navigation
Kuderer, M., Kretzschmar, H., Sprunk, C., & Burgard, W. (2012) · Robotics: Science and Systems VIII · doi:10.15607/rss.2012.viii.025 · Cited by 214
Thananjeyan, B., Balakrishna, A., Rosolia, U., Li, F., McAllister, R., Gonzalez, J. E., Levine, S., Borrelli, F., & Goldberg, K. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2976272 · Cited by 83
Metadata
- Authors
- Quinlan, S., & Khatib, O.
- Venue
- [1993] Proceedings IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2002-12-30
- Pages
- 802-807
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2152536965
- Cited by
- 793
- References
- 1
- FWCI
- 15.89
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Quinlan, S., & Khatib, O. (2002). Elastic bands: connecting path planning and control. [1993] Proceedings IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1993.291936
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
