Advanced Search   
  Look in
       Title     Description
  Include
       Inactive Projects
 

 
Very Rough Terrain Nonholonomic Trajectory Generation and Motion Planning for Rovers
Head: Anthony (Tony) Stentz and Alonzo Kelly
Contact: Alonzo Kelly
Mailing address:
National Robotics Engineering Consortium
10 40th Street
Pittsburgh, PA 15201
Publications
  • On the Fundamental Relationships Among Path Planning Alternatives

    Ross Alan Knepper
    doctoral dissertation, tech. report CMU-RI-TR-11-19, Robotics Institute, Carnegie Mellon University, June, 2011
    Details

  • Adaptive Anytime Motion Planning For Robust Robot Navigation In Natural Environments

    Mikhail Pivtoraiko
    Advanced Technologies for Enhanced Quality of Life, July, 2009, pp. 123-129 .
    Details | pdf (451KB) | Copyrighted

  • Fast and Feasible Deliberative Motion Planner for Dynamic Environments

    Mikhail Pivtoraiko and Alonzo Kelly
    International Conference on Robotics and Automation, May, 2009.
    Details | pdf (3MB) | Copyrighted

  • Autonomous Robot Navigation using Advanced Motion Primitives

    Mikhail Pivtoraiko, Alonzo Kelly, and Issa Nesnas
    IEEE Aerospace, March, 2009, pp. 1-7.
    Details | pdf (382KB) | Copyrighted

  • Differentially Constrained Motion Replanning Using State Lattices with Graduated Fidelity

    Mikhail Pivtoraiko and Alonzo Kelly
    Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '08), September, 2008, pp. 2611-2616.
    Details | pdf (1MB) | Copyrighted

  • Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices

    Mikhail Pivtoraiko, Thomas Howard, Issa Nesnas, and Alonzo Kelly
    Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08), March, 2008.
    Details | pdf (941KB) | Copyrighted

  • Terrain Aware Inversion of Predictive Models for Planetary Rovers

    Alonzo Kelly and Thomas Howard
    Proceedings of the Nasa Science and Technology Conference, June, 2007.
    Details | pdf (588KB) | Copyrighted

  • Optimal, Smooth, Nonholonomic Mobile Robot Motion Planning in State Lattices

    Mikhail Pivtoraiko, Ross Alan Knepper, and Alonzo Kelly
    tech. report CMU-RI-TR-07-15, Robotics Institute, Carnegie Mellon University, May, 2007
    Details | pdf (3MB) | Copyrighted

  • Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots

    Thomas Howard and Alonzo Kelly
    International Journal of Robotics Research, Vol. 26, No. 2, March, 2007, pp. 141-166.
    Details | pdf (9MB) | Copyrighted

  • Constrained Optimization Path Following of Wheeled Robots in Natural Terrain

    Thomas Howard, Ross Alan Knepper, and Alonzo Kelly
    Proceedings of the 10th International Symposium on Experimental Robotics 2006 (ISER '06), July, 2006.
    Details | pdf (752KB) | Copyrighted

  • Trajectory and Spline Generation for All-Wheel Steering Mobile Robots

    Thomas Howard and Alonzo Kelly
    Proceedings of the the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 4827 - 4832.
    Details | pdf (2MB) | Copyrighted

  • Terrain-Adaptive Generation of Optimal Continuous Trajectories for Mobile Robots

    Thomas Howard and Alonzo Kelly
    Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '05), September, 2005.
    Details | pdf (380KB) | Copyrighted

  • Efficient constrained path planning via search in state lattices

    Mikhail Pivtoraiko and Alonzo Kelly
    The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.
    Details | pdf (677KB) | Copyrighted

  • Trajectory Generation on Rough Terrain Considering Actuator Dynamics

    Thomas Howard and Alonzo Kelly
    Proceedings of the 5th International Conference on Field and Service Robotics (FSR '05), July, 2005.
    Details | pdf (260KB) | Copyrighted