Generalization of v* path planning for accommodation of amortized dynamic uncertainties in plan execution

Ishanu Chattopadhyay, Asok Ray

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A significant generalization to the language-measuretheoretic path planning algorithm is presented that accounts for average dynamic uncertainties in plan execution. The planning problem thus can be solved with parametric input from the dynamics of the robotic platform under consideration. Applicability of the algorithm is demonstrated in a simulated maze solution and by experimental validation on a mobile robotic platform in the laboratory environment.

Original languageEnglish (US)
Title of host publication2009 American Control Conference, ACC 2009
Pages2415-2420
Number of pages6
DOIs
StatePublished - Nov 23 2009
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: Jun 10 2009Jun 12 2009

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period6/10/096/12/09

Fingerprint

Motion planning
Robotics
Planning
Uncertainty

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

Chattopadhyay, I., & Ray, A. (2009). Generalization of v* path planning for accommodation of amortized dynamic uncertainties in plan execution. In 2009 American Control Conference, ACC 2009 (pp. 2415-2420). [5160367] (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2009.5160367
Chattopadhyay, Ishanu ; Ray, Asok. / Generalization of v* path planning for accommodation of amortized dynamic uncertainties in plan execution. 2009 American Control Conference, ACC 2009. 2009. pp. 2415-2420 (Proceedings of the American Control Conference).
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Chattopadhyay, I & Ray, A 2009, Generalization of v* path planning for accommodation of amortized dynamic uncertainties in plan execution. in 2009 American Control Conference, ACC 2009., 5160367, Proceedings of the American Control Conference, pp. 2415-2420, 2009 American Control Conference, ACC 2009, St. Louis, MO, United States, 6/10/09. https://doi.org/10.1109/ACC.2009.5160367

Generalization of v* path planning for accommodation of amortized dynamic uncertainties in plan execution. / Chattopadhyay, Ishanu; Ray, Asok.

2009 American Control Conference, ACC 2009. 2009. p. 2415-2420 5160367 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Chattopadhyay I, Ray A. Generalization of v* path planning for accommodation of amortized dynamic uncertainties in plan execution. In 2009 American Control Conference, ACC 2009. 2009. p. 2415-2420. 5160367. (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2009.5160367