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Carnegie Mellon Robotics Institute

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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",
}

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