Control-Driven Mapping and Planning

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Title: Control-Driven Mapping and Planning
Author: Wooden, David ; Powers, Matthew ; MacKenzie, D. C. ; Balch, Tucker ; Egerstedt, Magnus B.
Abstract: Layered hybrid controllers typically include a planner at the top level with reactive control at the lower levels. The planner considers the state of the robot in a global context. The low-level controllers consider only the local environment of the robot and are able to operate at a high frequency to ensure the safety of the robot. Also, it is often the case that the low-level controllers consider more aspects of the robot's state (e.g. kinematic constraints) than the planner. The consideration of such constraints at the planning level would prohibitively increase the state space the planner must consider and, accordingly, its running time and complexity. In this paper, we investigate how we can take advantage at the planning level of domain knowledge encapsulated in the lower level controllers, and we introduce a feedback mechanism that enables low-level controllers to influence the high-level planner.
Description: (c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier : 10.1109/IROS.2007.4399197
Type: Proceedings
ISBN: 978-1-4244-0911-2
Citation: D. Wooden, M. Powers, D. MacKenzie, T. Balch, and M. Egerstedt. Control-Driven Mapping and Planning. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, Nov. 2007.
Date: 2007-11
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Georgia Institute of Technology. College of Computing
Mobile Intelligence Corporation
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Control-driven mapping
Feedback mechanism
Path planning

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