An Interval-based Sliding Horizon Motion Planning Method

Motion Planning Using Interval Analysis

This paper deals with characterizing the connected component AS(~a) of a set S that contains a given point ~a. The set S is assumed to be de…ned by nonlinear inequalities, so that interval analysis can be used to prove that a given box is inside or outside S. Further, the characterization of AS(~a) is used to …nd a feasible path (i.e. a path that lies within S) that links ~a to any other point ...

Cross-Efficiency Evaluation Based on an Interval Method

Sliding Horizon Feedback Control

Probabilistic harmonic-function-based method for robot motion planning

This paper presents a robot motion planning method, called PHM, that uses a random sampling scheme together with a potential-field approach based on harmonic functions. The combination of both results in an efficient path planner that is both resolution and probabilistic complete. On one hand, random sampling allows the use of the harmonic functions approach without the explicit knowledge of th...

A gradient-based path optimization method for motion planning

Most algorithms in probabilistic sampling-based path planning compute collision-free paths made of straight line segments lying in the configuration space. Due to the randomness of sampling, the paths make detours that need to be optimized. The contribution of this paper is to propose a basic gradient-based (GB) algorithm that transforms a polygonal collision-free path into a shorter one. While...