Name
Title | ||
|---|---|---|
Time-Optimal Multi-Stage Motion Planning With Guaranteed Collision Avoidance Via An Open-Loop Game Formulation |
Abstract | ||
|---|---|---|
We present an efficient algorithm which computes, for a kinematic point mass moving in the plane, a time-optimal path that visits a sequence of target sets while conservatively avoiding collision with moving obstacles, also modelled as kinematic point masses, but whose trajectories are unknown. The problem is formulated as a pursuit-evasion differential game, and the underlying construction is based on optimal control. The algorithm, which is a variant of the fast marching method for shortest path problems, can handle general dynamical constraints on the players and arbitrary domain geometry (e.g. obstacles, non-polygonal boundaries). Applications to a two-stage game, capture-the-flag, is presented. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ICRA.2012.6225074 | 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
Keywords | Field | DocType |
optimal control,game theory,shortest path problem,trajectory,planning,boundary condition,open loop systems,boundary conditions,games,motion planning,fast marching method | Motion planning,Kinematics,Optimal control,Shortest path problem,Control theory,Fast marching method,Differential game,Game theory,Mathematics,Trajectory | Conference |
Volume | Issue | ISSN |
2012 | 1 | 1050-4729 |
Citations | PageRank | References |
12 | 0.93 | 20 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ryo Takei | 1 | 32 | 3.51 |
| Haomiao Huang | 2 | 258 | 21.62 |
| Jerry Ding | 3 | 141 | 9.61 |
| Claire J. Tomlin | 4 | 1491 | 158.05 |