2018/07/23 by Vasileios Vasilopoulos, Vasilopoulos, Vasileios, Daniel E. Koditschek +1
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #Optimization and Search Problems #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.1807.08432
openalex publication_date 2018/07/23 · openalex created_date 2022/08/04 · openalex updated_date 2026/07/28
This paper presents a provably correct method for robot navigation in 2D\nenvironments cluttered with familiar but unexpected non-convex, star-shaped\nobstacles as well as completely unknown, convex obstacles. We presuppose a\nlimited range onboard sensor, capable of recognizing, localizing and\n(leveraging ideas from constructive solid geometry) generating online from its\ncatalogue of the familiar, non-convex shapes an implicit representation of each\none. These representations underlie an online change of coordinates to a\ncompletely convex model planning space wherein a previously developed online\nconstruction yields a provably correct reactive controller that is pulled back\nto the physically sensed representation to generate the actual robot commands.\nWe extend the construction to differential drive robots, and suggest the\nempirical utility of the proposed control architecture using both formal proofs\nand numerical simulations.\n