Carnegie Mellon University
Convergent Planning

Aaron M. Johnson , Jennifer King, and Siddhartha Srinivasa
IEEE Robotics and Automation Letters, Vol. 1, No. 2, pp. 1044-1051, July, 2016.

  • Adobe portable document format (pdf) (735KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

We propose a number of “divergence metrics” to quantify the robustness of a trajectory to state uncertainty for under-actuated or under-sensed systems. These metrics are inspired by contraction analysis and we demonstrate their use to guide randomized planners towards more convergent trajectories through three extensions to the kinodynamic RRT. The first strictly thresholds action selection based on these metrics, forcing the planner to find a solution that lies within a contraction region over which all initial conditions converge exponentially to a single trajectory. However, finding such a monotonically contracting plan is not always possible. Thus, we propose a second method that relaxes these strict requirements to find “convergent” (i.e. low-divergence) plans. The third algorithm uses these metrics for post-planning path selection. Two examples test the ability of these metrics to lead the planners to more robust trajectories: a mobile robot climbing a hill and a manipulator rearranging objects on a table.

Motion and Path Planning, Manipulation Planning, Field Robots

Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Personal Robotics

Text Reference
Aaron M. Johnson , Jennifer King, and Siddhartha Srinivasa, "Convergent Planning," IEEE Robotics and Automation Letters, Vol. 1, No. 2, pp. 1044-1051, July, 2016.

BibTeX Reference
   author = "Aaron M {Johnson } and Jennifer King and Siddhartha Srinivasa",
   editor = "IEEE",
   title = "Convergent Planning",
   journal = "IEEE Robotics and Automation Letters",
   pages = "1044-1051",
   month = "July",
   year = "2016",
   volume = "1",
   number = "2",