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dc.contributor.authorCowlagi, Raghvendra V.
dc.contributor.authorTsiotras, Panagiotis
dc.date.accessioned2011-10-28T17:36:10Z
dc.date.available2011-10-28T17:36:10Z
dc.date.issued2010-06
dc.identifier.citationCowlagi, R. and Tsiotras, P. (2010). "Kinematic Feasibility Guarantees in Geometric Path Planning Using History-based Transition Costs Over Cell Decompositions''. Proceedings of the American Control Conference (ACC 2010), 30 June-2 July 2010, pp. 5388-5393.en_US
dc.identifier.urihttp://hdl.handle.net/1853/41932
dc.description©2010 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.en_US
dc.descriptionPresented at the 2010 American Control Conference (ACC 2010), 30 June-2 July 2010, Baltimore, MD.
dc.description.abstractThe hierarchical decomposition of motion planning tasks into geometric path planning, followed by kinodynamic motion planning is useful for designing efficient algorithms, but it entails the possibility of inconsistency between the two layers of planning. In an earlier paper, we proposed a general framework, based on rectangular cell decompositions, for incorporating information about the kinodynamic behavior of the vehicle in the geometric planning layer itself. In this paper, we use this framework to design a geometric path planning scheme which simultaneously finds an obstacle-free channel of cells from the initial point to the goal, as well as a vehicle state trajectory lying within that channel.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectCell decompositionsen_US
dc.subjectGeometric path planningen_US
dc.subjectKinematic feasibilityen_US
dc.subjectKinodynamic motion planningen_US
dc.subjectRectangular cell decompositionsen_US
dc.subjectVehicle state trajectoryen_US
dc.titleKinematic Feasibility Guarantees in Geometric Path Planning Using History-based Transition Costs over Cell Decompositionsen_US
dc.typePost-printen_US
dc.typeProceedings
dc.contributor.corporatenameGeorgia Institute of Technology. School of Aerospace Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.publisher.originalInstitute of Electrical and Electronics Engineers


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