Framework for motion planning in stochastic environments: applications and computational issues

Steven M. La Valle, Rajeev Sharma

Research output: Contribution to journalConference articlepeer-review

Abstract

In a companion paper [7], we presented a framework for analyzing motion plans for a robot that operates in an environment that changes over time in an uncertain manner. In this paper, we demonstrate the utility of our framework by applying it to a variety of motion planning problems. Examples are computed for problems that involve a changing configuration space, hazardous regions and shelters, and processing of random service requests. To achieve this, we have exploited the powerful principle of optimality, which leads to a dynamic programming-based algorithm for determining optimal strategies. Several computed examples are presented and discussed.

Original languageEnglish (US)
Pages (from-to)3063-3068
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - Jan 1 1995
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: May 21 1995May 27 1995

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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