Constrained Motion Planning in Discrete State Spaces

Mikhail Pivtoraiko and Alonzo Kelly
Field and Service Robotics, July, 2006, pp. 269-280.

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We propose a principled method to create a search space for constrained motion planning, which e ciently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alternatives. This set of motion primitives preserves the connectivity of the representation while eliminating redundancy leading to a very e cient structure for motion planning at the chosen resolution.

nonholonomic motion planning lattice control set

Number of pages: 12

Text Reference
Mikhail Pivtoraiko and Alonzo Kelly, "Constrained Motion Planning in Discrete State Spaces," Field and Service Robotics, July, 2006, pp. 269-280.

BibTeX Reference
   author = "Mikhail Pivtoraiko and Alonzo Kelly",
   title = "Constrained Motion Planning in Discrete State Spaces",
   booktitle = "Field and Service Robotics",
   pages = "269-280",
   publisher = "Springer",
   address = "Berlin / Heidelberg",
   month = "July",
   year = "2006",
   volume = "25",