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Maneuver-based motion planning for nonlinear systems with symmetries
Abstract
In this paper, we introduce an approach for the efficient solution of motion-planning problems for time-invariant dynamical control systems with symmetries, such as mobile robots and autonomous vehicles, under a variety of differential and algebraic constraints on the state and on the control inputs. Motion plans are described as the concatenation of a number of well-defined motion primitives, selected from a finite library. Rules for the concatenation of primitives are given in the form of a regular language, defined through a finite-state machine called a Maneuver Automaton. We analyze the reachability properties of the language, and present algorithms for the solution of a class of motion-planning problems. In particular, it is shown that the solution of steering problems for nonlinear dynamical systems with symmetries and invariant constraints can be reduced to the solution of a sequence of kinematic inversion problems. A detailed example of the application of the proposed approach to motion planning for a small aerobatic helicopter is presented.
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Citations
Cited by
Sampling-Based Robot Motion Planning: A Review
Elbanhawi, M., & Simic, M. (2014) · IEEE Access · doi:10.1109/access.2014.2302442 · Cited by 786
Optimization‐based autonomous racing of 1:43 scale RC cars
Liniger, A., Domahidi, A., & Morari, M. (2015) · Optimal Control Applications and Methods · doi:10.1002/oca.2123 · Cited by 537
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
Transporter Networks: Rearranging the Visual World for Robotic Manipulation
Zeng, A., Florence, P., Tompson, J., Welker, S., Chien, J., Attarian, M., Armstrong, T., Krasin, I., Duong, D., Wahid, A., et al. (2020) · arXiv · doi:10.48550/arxiv.2010.14406 · Cited by 200
Seita, D., Florence, P., Tompson, J., Coumans, E., Sindhwani, V., Goldberg, K., & Zeng, A. (2021) · 2021 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra48506.2021.9561391 · Cited by 130
Metadata
- Authors
- Frazz, E., Dahleh, M. A., & Feron, E.
- Venue
- IEEE Transactions on Robotics
- Published
- 2005-12
- Volume
- 21
- Issue
- 6
- Pages
- 1077-1091
- ISSN
- 1552-3098 (ISSN-L)
- OpenAlex
- W2153219011
- Cited by
- 440
- References
- 0
- FWCI
- 28.32
- Type
- journal article
- Language
- en
- Open access
- closed
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- Frazz, E., Dahleh, M. A., & Feron, E. (2005). Maneuver-based motion planning for nonlinear systems with symmetries. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2005.852260
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