Sensor Based Planning and Nonsmooth Analysis

Howie Choset and J. Burdick
Conference Paper, Proceedings of the 1994 IEEE International Conference on Robotics and Automation (ICRA '94), Vol. 4, pp. 3034 - 3041, May, 1994

View Publication

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.


This paper describes some initial steps towards sensor based path planning in an unknown static environment. The method is a based on a sensor-based incremental construction of a one-dimensional retract of the free space. In this paper we introduce a retract termed the generalized Voronoi graph, and also analyze the roadmap of Canny and Lin’s opportunistic path planner (1990, 1993). The bulk of this paper is devoted to the application of nonsmooth analysis to the Euclidean distance function. We show that the distance function is in fact nonsmooth at the points which are required to construct the plan. This analysis leads directly to the incorporation of simple and realistic sensor models into the planning scheme.

author = {Howie Choset and J. Burdick},
title = {Sensor Based Planning and Nonsmooth Analysis},
booktitle = {Proceedings of the 1994 IEEE International Conference on Robotics and Automation (ICRA '94)},
year = {1994},
month = {May},
volume = {4},
pages = {3034 - 3041},
} 2017-09-13T10:51:27-04:00