Difference between revisions of "Publications:An Interpolated Dynamic Navigation Function"

Latest revision as of 21:40, 30 September 2016

Title	An Interpolated Dynamic Navigation Function
Author	Roland Philippsen and Roland Siegwart
Year	2005
PublicationType	Conference Paper
Journal
HostPublication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005, Vols 1-4
Conference	2005 IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 18-22 April, 2005
DOI	http://dx.doi.org/10.1109/ROBOT.2005.1570697
Diva url	http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:576973
Abstract	The Ez.ast; algorithm is a path planning method capable of dynamic replanning and user-configurable path cost interpolation. It calculates a navigation function as a sampling of an underlying smooth goal distance that takes into account a continuous notion of risk that can be controlled in a fine-grained manner. E* results in more appropriate paths during gradient descent. Dynamic replanning means that changes in the environment model can be repaired to avoid the expenses of complete replanning. This helps compensating for the increased computational effort required for interpolation. We present the theoretical basis and a working implementation, as well as measurements of the algorithm's precision, topological correctness, and computational effort. © 2005 IEEE.

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 {{PublicationSetupTemplate|Author=Roland Philippsen, Roland Siegwart
 |PID=576973
-|Name=Philippsen, Roland [rolphi] (Autonomous Systems Lab, EPFL, Switzerland);Siegwart, Roland (Autonomous Systems Lab, EPFL, Switzerland)
+|Name=Philippsen, Roland (rolphi) (0000-0003-3513-8854) (Autonomous Systems Lab, EPFL, Switzerland);Siegwart, Roland (Autonomous Systems Lab, EPFL, Switzerland)
 |Title=An Interpolated Dynamic Navigation Function
 |PublicationType=Conference Paper