Sensor Based Planning for a Rod Robot

Howie Choset and J. Burdick
Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA '96), April, 1996, pp. 3584 - 3591.


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Abstract
Sensor based planning for rod-shaped robots is necessary for the realistic deployment of noncircular symmetric robots into unknown environments. To this end, the rod hierarchical generalized Voronoi graph (rod-HGVG), introduced in this paper, is a roadmap for rod-like robots. A key feature of this roadmap is that it can be incrementally constructed using distance (range) information. This planning paradigm is an extension of previous work on sensor based planning for point robots.

Notes
Associated Lab(s) / Group(s): Biorobotics
Associated Project(s): Retract-like structures for SE(2) and SE(3) and Bridge Inspection with Serpentine Robots

Text Reference
Howie Choset and J. Burdick, "Sensor Based Planning for a Rod Robot," Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA '96), April, 1996, pp. 3584 - 3591.

BibTeX Reference
@inproceedings{Choset_1996_1408,
   author = "Howie Choset and J. Burdick",
   title = "Sensor Based Planning for a Rod Robot",
   booktitle = "Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA '96)",
   pages = "3584 - 3591",
   month = "April",
   year = "1996",
   volume = "4",
}