ICRA 2011 Paper Abstract


Paper ThA203.1

Whitty, Mark Albert (University of New South Wales), Guivant, Jose (UNSW)

Efficient Global Path Planning during Dense Map Deformation

Scheduled for presentation during the Regular Sessions "Path Planning for Multiple Robots II" (ThA203), Thursday, May 12, 2011, 10:05−10:20, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Path Planning for Multiple Mobile Robots or Agents, Autonomous Navigation, SLAM


This paper presents an efficient approach to global path planning for multiple agents during large-scale map deformation. The problem of planning using dense data during large-scale map deformation is addressed by using a hybrid metric-topological planner that maintains locally consistent policies. These policies are cached, providing efficiency gains relative to alternate planning approaches which are characterized using complexity analysis. Simulation results show the effectiveness of this approach in handling notable map deformation while achieving good efficiency.



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