Optimal gap navigation for a disc robot

Rigoberto Lopez-Padilla, Rafael Murrieta-Cid, Steven M. Lavalle

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper considers the problem of globally optimal navigation with respect to Euclidean distance for disc-shaped, differential-drive robot placed into an unknown, simply connected polygonal region. The robot is unable to build precise geometric maps of the environment. Most of the robot’s information comes from a gap sensor, which indicates depth discontinuities and allows the robot to move toward them. A motion strategy is presented that optimally navigates the robot to any landmark in the region. Optimality is proved and the method is illustrated in simulation.

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
EditorsEmilio Frazzoli, Nicholas Roy, Tomas Lozano-Perez, Daniela Rus
PublisherSpringer-Verlag Berlin Heidelberg
Number of pages16
ISBN (Print)9783642362781
StatePublished - 2013
Event10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012 - Cambridge, United States
Duration: Jun 13 2012Jun 15 2012

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012
CountryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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