Algorithms for planning and control of robot motions [TC Spotlight]

Oliver Brook, Tsutomu Hasegawa, Steve Lavalle, Thierry Siméon

Research output: Contribution to journalArticle

Abstract

Robot motion planning and control is an essential component in creating autonomous systems that are able to execute high-level tasks for navigating and manipulating objects in challenging environments. Motion planning has led to active research over the past decades. Most of the research focused on the computational issue of generating feasible paths that lead the robot to a desired goal, while generally ignoring control concerns such as feedback, optimum, and uncertainty. The breakthrough achieved with sampling-based algorithms leads to effective techniques for hard, high-dimensional problems, and the recent improvements brought motion-planning algorithms closer to applicability in real problems. Nowadays, the practical interest of the state-of-the-art techniques is no longer restricted to robotics but extends to challenging problems arising in such diverse fields as graphics animation, virtual prototyping, and computational biology.

Original languageEnglish (US)
Number of pages1
JournalIEEE Robotics and Automation Magazine
Volume16
Issue number1
DOIs
StatePublished - Apr 14 2009
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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