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RiskRRT-Based Planning For Interception of Moving Objects in Complex Environments

Mario Garzón 1 Efstathios P Fotiadis 1 Antonio Barrientos 1 Anne Spalanzani 2
1 UPM - Universidad Politécnica de Madrid
2 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG [2007-2015] - Laboratoire d'Informatique de Grenoble [2007-2015]
Abstract : This paper presents a new approach for the interception of moving objects using UGVs in large complex environments. The planning for interception is based on the Risk-RRT algorithm. Several modi cafitions have been made to the base algorithm to enhance its ability to move in uncertain environments. The planner is integrated with a navigation architecture. The full system is capable of parallel on-line planning and following of the path. It performs the interception and at the same time it avoids static and dynamic obstacles. Several tests, both in simulation and with real world robots, were carried out showing the effectiveness of the proposed system.
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Conference papers
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https://hal.inria.fr/hal-00920884
Contributor : Anne Spalanzani <>
Submitted on : Thursday, December 19, 2013 - 1:34:41 PM
Last modification on : Friday, July 17, 2020 - 11:10:24 AM

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  • HAL Id : hal-00920884, version 1

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CNRS | INRIA | UGA | LIG | LIG_SIC_E-MOTION

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Mario Garzón, Efstathios P Fotiadis, Antonio Barrientos, Anne Spalanzani. RiskRRT-Based Planning For Interception of Moving Objects in Complex Environments. ROBOT2013: First Iberian Robotics Conference, 2013, Madrid, Spain. pp.489--503. ⟨hal-00920884⟩

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