Sensor Based Planning for a Rod Robot - Robotics Institute Carnegie Mellon University

Sensor Based Planning for a Rod Robot

Howie Choset and J. Burdick
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3584 - 3591, April, 1996

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.

BibTeX

@conference{Choset-1996-14114,
author = {Howie Choset and J. Burdick},
title = {Sensor Based Planning for a Rod Robot},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1996},
month = {April},
volume = {4},
pages = {3584 - 3591},
}