Maneuver-based motion planning for nonlinear systems with symmetries

Frazzoli, Emilio; Dahleh, Munther A.; Féron, Éric

doi:10.1109/tro.2005.852260

Cited by 338 publications

(296 citation statements)

References 19 publications

Supporting

Mentioning

296

Contrasting

Order By: Relevance

“…For example, trajectory libraries have been used in diverse applications such as humanoid balance control [13], autonomous ground vehicle navigation [21] and grasping [4]. The Maneuver Automaton [5] attempts to capture the formal properties of trajectory libraries as a hybrid automaton, thus providing a nice unifying theoretical framework. Further theoretical investigations have focused on the offline generation of diverse but sparse trajectories that ensure the robot's ability to perform the necessary tasks online in an efficient manner [6].…”

Section: Related Workmentioning

confidence: 99%

“…This issue is discussed thoroughly in [5] and is addressed by having a trim trajectory of the system that other trajectories (maneuvers) start from and end at (of course, one may also have more than one trim trajectory).…”

Section: Funnel Librariesmentioning

confidence: 99%

“…Planning algorithms like the Rapidly-exploring Randomized Tree (RRT) [12], RRT [11], and related trajectory library approaches [13] [5] can handle large state space dimensions and complex differential constraints, and have been successfully demonstrated on a wide variety of hardware platforms [22] [21]. However, a significant failing is their inability to explicitly reason about uncertainty and feedback.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Online Motion Planning with Regions of Finite Time Invariance

Majumdar

Tedrake

2013

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

In this paper we consider the problem of generating motion plans for a nonlinear dynamical system that are guaranteed to succeed despite uncertainty in the environment, parametric model uncertainty, disturbances, and/or errors in state estimation. Furthermore, we consider the case where these plans must be generated online, because constraints such as obstacles in the environment may not be known until they are perceived (with a noisy sensor) at runtime. Previous work on feedback motion planning for nonlinear systems was limited to offline planning due to the computational cost of safety verification. Here we take a trajectory library approach by designing controllers that stabilize the nominal trajectories in the library and precomputing regions of finite time invariance ("funnels") for the resulting closed loop system. We leverage sums-of-squares programming in order to efficiently compute funnels which take into account bounded disturbances and uncertainty. The resulting funnel library is then used to sequentially compose motion plans at runtime while ensuring the safety of the robot. A major advantage of the work presented here is that by explicitly taking into account the effect of uncertainty, the robot can evaluate motion plans based on how vulnerable they are to disturbances. We demonstrate our method on a simulation of a plane flying through a two dimensional forest of polygonal trees with parametric uncertainty and disturbances in the form of a bounded "cross-wind".

show abstract

Section: Related Workmentioning

confidence: 99%

Section: Funnel Librariesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Online Motion Planning with Regions of Finite Time Invariance

Majumdar

Tedrake

2013

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

show abstract

“…A library implementing graph-based search is the Search-Based Planning Library (SBPL) 3 , which is useful if one e.g. uses motion primitives that span a search tree [22]. Besides graphbased techniques, there also exists the Covariant Hamiltonian Optimization for Motion Planning (CHOMP) library for gradient-based optimization techniques [23].…”

Section: Introductionmentioning

confidence: 99%

CommonRoad: Composable benchmarks for motion planning on roads

Althoff

Koschi

Manzinger

2017

2017 IEEE Intelligent Vehicles Symposium (IV)

284

166

View full text Add to dashboard Cite

Abstract-Numerical experiments for motion planning of road vehicles require numerous components: vehicle dynamics, a road network, static obstacles, dynamic obstacles and their movement over time, goal regions, a cost function, etc. Providing a description of the numerical experiment precise enough to reproduce it might require several pages of information. Thus, only key aspects are typically described in scientific publications, making it impossible to reproduce results-yet, reproducibility is an important asset of good science. Composable benchmarks for motion planning on roads (CommonRoad) are proposed so that numerical experiments are fully defined by a unique ID; all information required to reconstruct the experiment can be found on the CommonRoad website. Each benchmark is composed by a vehicle model, a cost function, and a scenario (including goals and constraints). The scenarios are partly recorded from real traffic and partly hand-crafted to create dangerous situations. We hope that CommonRoad saves researchers time since one does not have to search for realistic parameters of vehicle dynamics or realistic traffic situations, yet provides the freedom to compose a benchmark that fits one's needs.

show abstract

“…Another modeling formulation is maneuver automata [5], which are finite automata that produce sequences of predetermined maneuvers for unmanned vehicles. Admissible motion is expressed as the set of traces the automaton accepts.…”

Section: Introductionmentioning

confidence: 99%

Composition of Motion Description Languages

Zhang

Tanner

Hybrid Systems: Computation and Control

View full text Add to dashboard Cite

Abstract. We introduce a new formalism to define compositions of interacting heterogeneous systems, described by extended motion description languages (MDLes). The novelty of the formalism is in producing a composed system with a behavior that could be a superset of the union of the behaviors of its generators. We prove closedness of MDLes under this composition and we show that in the class of systems modeled using MDLes, language equivalence can be decidable. Our approach consists of representing MDLes as normed processes, recursively defined as a guarded system of recursion equations in restricted Greibach Normal Form over a basic process algebra. Basic processes have well defined semantics for composition, which we exploit to establish the properties of our composed MDLes.

show abstract

Maneuver-based motion planning for nonlinear systems with symmetries

Cited by 338 publications

References 19 publications

Robust Online Motion Planning with Regions of Finite Time Invariance

Robust Online Motion Planning with Regions of Finite Time Invariance

CommonRoad: Composable benchmarks for motion planning on roads

Composition of Motion Description Languages

Contact Info

Product

Resources

About