hh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Mobile Robot Planning in Dynamic Environments and on Growable Costmaps
Stanford University, California, USA.ORCID iD: 0000-0003-3513-8854
Swiss Federal Institute of Technology Zürich, Switzerland.
Swiss Federal Institute of Technology Zürich, Switzerland.
Singleton Technology, Lausanne, Switzerland.
2008 (English)In: Workshop on Path Planning on Costmaps: A half day workshop for ICRA 2008, 2008, 8- p.Conference paper, Published paper (Refereed)
Abstract [en]

We present two applications of path planning oncostmaps: (i) the Probabilistic Navigation Function uses a smoothlyvarying co-occurrence estimation to trade-off collision risk versusdetour lengths, and (ii) a navigation system for exploration ofunknown environment using growable costmaps, interweaving mapping,replanning, and control.By relying on costmaps as a general basis for planning and pathtracking as a generic motion control interface, our approach andimplementation covers a wide range of planners and controllers. Weachieve a relatively general purpose system and introduce a limitedamount of well-defined user-definable heuristics that allow users toadapt the system to a given application. System integration andgenericity is demonstrated by providing three specific implementationsof the planner and controller components, all working withinthe same framework.

Place, publisher, year, edition, pages
2008. 8- p.
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:hh:diva-20127OAI: oai:DiVA.org:hh-20127DiVA: diva2:577006
Conference
2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA
Note

Organizers:

Wes Huang Applied Perception, Inc.   

Dave Ferguson Intel Research Pittsburgh

Available from: 2012-12-14 Created: 2012-12-14 Last updated: 2013-11-15Bibliographically approved

Open Access in DiVA

No full text

Other links

Read fulltext

Search in DiVA

By author/editor
Philippsen, Roland
Computer and Information Science

Search outside of DiVA

GoogleGoogle Scholar

Total: 108 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf