The DOI matches its Crossref record; 20 of the 20 references it cites were found in a registry or an index.
Improved fast replanning for robot navigation in unknown terrain
Abstract
Mobile robots often operate in domains that are only incompletely known, for example, when they have to move from given start coordinates to given goal coordinates in unknown terrain. In this case, they need to be able to replan quickly as their knowledge of the terrain changes. Stentz' Focussed Dynamic A* is a heuristic search method that repeatedly determines a shortest path from the current robot coordinates to the goal coordinates while the robot moves along the path. It is able to replan one to two orders of magnitudes faster than planning from scratch since it modifies previous search results locally. Consequently, it has been extensively used in mobile robotics. In this paper, we introduce an alternative to Focussed Dynamic A* that implements the same navigation strategy but is algorithmically different. Focussed Dynamic A* Lite is simpler, easier to understand, easier to analyze and easier to extend than Focussed Dynamic A*, yet is more efficient. We believe that our results will make D*-like replanning algorithms even more popular and enable robotics researchers to adapt them to additional applications.
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Cites
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Optimal and efficient path planning for partially-known environments
Stentz, A. (2002) · Proceedings of the 1994 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1994.351061 · Cited by 929
The focussed D* algorithm for real-time replanning
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Cited by
Fast replanning for navigation in unknown terrain
Koenig, S., & Likhachev, M. (2005) · IEEE Transactions on Robotics · doi:10.1109/tro.2004.838026 · Cited by 697
Self-citationPlanning Long Dynamically Feasible Maneuvers for Autonomous Vehicles
Likhachev, M., & Ferguson, D. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364909340445 · Cited by 512
Self-citationUsing interpolation to improve path planning: The Field D* algorithm
Ferguson, D., & Stentz, A. (2006) · Journal of Field Robotics · doi:10.1002/rob.20109 · Cited by 393
Survey of Robot 3D Path Planning Algorithms
Yang, L., Qi, J., Song, D., Xiao, J., Han, J., & Xia, Y. (2016) · Journal of Control Science and Engineering · doi:10.1155/2016/7426913 · Cited by 328
The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance
Prentice, S., & Roy, N. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364909341659 · Cited by 269
Metadata
- Authors
- Koenig, S., & Likhachev, M.
- Venue
- Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
- Publisher
- IEEE
- Published
- 2003-06-25
- Volume
- 1
- Pages
- 968-975
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2158137377
- Cited by
- 294
- References
- 20
- FWCI
- 10.12
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Koenig, S., & Likhachev, M. (2003). Improved fast replanning for robot navigation in unknown terrain. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). https://doi.org/10.1109/robot.2002.1013481
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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