Paper WeC04.6
Karaman, Sertac (Massachusetts Institute of Technology), Frazzoli, Emilio (Massachusetts Institute of Technology)
HighSpeed Flight in an Ergodic Forest
Scheduled for presentation during the Regular Session "Stochastic Motion Planning" (WeC04), Wednesday, May 16, 2012,
15:45−16:00, Meeting Room 4 (Chief Wabasha)
2012 IEEE International Conference on Robotics and Automation, May 1418, 2012, RiverCentre, Saint Paul, Minnesota, USA
This information is tentative and subject to change. Compiled on October 19, 2017


Keywords Motion and Path Planning, Autonomous Navigation, Planning, Scheduling and Coordination
Abstract
Inspired by birds flying through cluttered environments such as dense forests, this paper studies the theoretical foundations of highspeed motion through a randomlygenerated obstacle field. Assuming that the locations and the sizes of the trees are determined by an ergodic point process, and under mild technical conditions on the dynamics of the bird, it is shown that the existence of an infinite collisionfree trajectory through the forest exhibits a phase transition. In other words, if the bird flies faster than a certain critical speed, there is no infinite collisionfree trajectory, with probability one, i.e., the bird will eventually collide with some tree, almost surely, regardless of the planning algorithm governing its motion. On the other hand, if the bird flies slower than this critical speed, then there exists at least one infinite collisionfree trajectory, almost surely. Lower and upper bounds on the critical speed are derived for the special case of a Poisson forest considering a simple model for the bird's dynamics. Moreover, results from an extensive MonteCarlo simulation study are presented. This paper also establishes novel connections between robot motion planning and statistical physics through ergodic theory and the theory of percolation, which may be of independent interest.

