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RI | Publications | Sensor Based Planning for a Rod Robot
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Sensor Based Planning for a Rod Robot
H. Choset and J. Burdick
Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA '96), Vol. 4, 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/group: Biorobotics
Associated projects: Retract-like structures for SE(2) and SE(3) and Bridge Inspection with Serpentine Robots
| Text Reference |
H. Choset and J. Burdick, "Sensor Based Planning for a Rod Robot," Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA '96), Vol. 4, 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)",
month = "April",
year = "1996",
volume = "4",
pages = "3584 - 3591"
}