Lazanas, A. | Latombe, J.-C.
Achieving goals despite uncertainty in control and sensing may require robots to perform complicated motion planning and execution monitoring. This paper describes a reduced version of the general planning problem in the presence of uncertainty and a complete polynomial algorithm solving it. The algorithm assumes that landmarks are scattered across the workspace, that robot control and position sensing are perfect within the fields of influence of these landmarks (the regions in which the landmarks can be sensed by the robot), and that control is imperfect and sensing null outside these fields. This leads us to view robot/workspace engineering as a means to make planning problems tractable.
See also:Robot Motion Planning: A Distributed Representation Approach. The International Journal of Robotics Research December 1991 vol. 10 no. 6 628-649.Randomized Query Processing in Robot Motion Planning. STAN-CS-TR-94-1533, Department of Computer Science, Stanford University, 1984.Robot motion planning with many degrees of freedom and dynamic constraints. In The fifth international symposium on Robotics research, Hirofumi Miura (Ed.). MIT Press, Cambridge, MA, USA, 435-444, 1991.Motion planning for a three-limbed climbing robot in vertical natural terrain, Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on , vol.3, no., pp.2946,2953 vol.3, 14-19 Sept. 2003.Dynamic Networks for Motion Planning in Multi-Robot Space Systems. In Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space: i-SAIRAS 2003, March 19, 2003.Contingency-Tolerant Robot Motion Planning and Control, Intelligent Robots and Systems '89. The Autonomous Mobile Robots and Its Applications. IROS '89. Proceedings., IEEE/RSJ International Workshop on , vol., no., pp.78,86, 4-6 Sep 1989.Kluwer
Zhu, D. J. | Latombe, J.-C.