Stochastic reachability based motion planning for multiple moving obstacle avoidance

DOI10.1145/2562059.2562127MaRDI QIDQ2986949zbMATH OpenOpenAlexFDO

Authors

Publication date 16 May 2017

Published in Proceedings of the 17th international conference on Hybrid systems: computation and control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1145/2562059.2562127

zbMATH Keywords

motion planningprobabilistic roadmapsstochastic reachability

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40)

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• Randomized kinodynamic motion planning with moving obstacles
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Cites work

• A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability
• Computation of piecewise quadratic Lyapunov functions for hybrid systems
• Constrained model predictive control: Stability and optimality
• Convex Analysis
• Linear systems with state and control constraints: the theory and application of maximal output admissible sets
• Lyapunov Functions, Stability and Input-to-State Stability Subtleties for Discrete-Time Discontinuous Systems
• Minkowski terminal cost functions for MPC
• On infinity norms as Lyapunov functions for piecewise affine systems
• Set-theoretic methods in control
• Stability analysis of piecewise discrete-time linear systems

Cited in

(9)

• Probabilistic reach-avoid problems in nondeterministic systems with time-varying targets and obstacles
• Fastest motion planning for an unmanned vehicle in the presence of accelerating obstacles
• Multiple object semilinear motion planning
• Stochastic reachability of a target tube: theory and computation
• Randomized kinodynamic motion planning with moving obstacles
• Bounded-rate multi-mode systems based motion planning
• Path Planning among Movable Obstacles: A Probabilistically Complete Approach
• Cooperative, dynamics-based, and abstraction-guided multi-robot motion planning
• Risk-averse receding horizon motion planning for obstacle avoidance using coherent risk measures

Describes a project that uses

Uses Software

• CPLEX
• YALMIP
• MPT

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