Name
Abstract | ||
|---|---|---|
Motion planning is an important problem with many applications in robotics. In this paper, we focus on motion planning with rectangular obstacles parallel to the X, Y or Z axis. We formulate motion planning using Satisfiability Modulo Theories (SMT) and use SMT solvers to find a feasible path from the source to the goal. Our formulation decompose the robotic path into N path segments where the two ends of each path segment can be constrained using difference logic. Our SMT approach will find a solution if and only if a feasible path exists for the given constraints. We present extensive experimental results to demonstrate the scalability of our approach. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICRA.2014.6906597 | Robotics and Automation |
Keywords | DocType | ISSN |
computability,mobile robots,path planning,SMT approach,SMT solvers,motion planning,rectangular obstacles,robotics,satisfiability modulo theory | Conference | 1050-4729 |
Citations | PageRank | References |
3 | 0.40 | 10 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| William N. N. Hung | 1 | 304 | 34.98 |
| Xiaoyu Song | 2 | 471 | 51.61 |
| Jindong Tan | 3 | 687 | 77.41 |
| Xiaojuan Li | 4 | 8 | 5.01 |
| Jie Zhang | 5 | 36 | 6.46 |
| R. Wang | 6 | 61 | 11.21 |
| Peng Gao | 7 | 3 | 0.74 |