Skip to Main content Skip to Navigation
Conference papers

Reactive Planning Under Uncertainty Among Moving Obstacles

Stephane Petti 1 Thierry Fraichard 1
1 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : This paper addresses the problem of navigation of complex systems in dynamic environments under uncertainty. Such environments impose a hard real time constraint. However, computing a complete motion to the goal within a limited time is impossible to achieve in most real situations. The Partial Motion Planning (PMP) approach is used to address the planning problem. However, for real applications, it is important to take into account uncertainty. In this paper, we present an extension to the PMP that accounts for uncertainty in order to plan trajectories robust to the robot's errors. We show that PMP framework is highly suitable to account for these constraints and present original simulation results of robust trajectories for a car-like robot evolving among moving obstacles.
Document type :
Conference papers
Complete list of metadata

Cited literature [14 references]  Display  Hide  Download
Contributor : Christian Laugier Connect in order to contact the contributor
Submitted on : Wednesday, October 24, 2007 - 6:34:51 PM
Last modification on : Monday, December 28, 2020 - 3:44:02 PM
Long-term archiving on: : Monday, April 12, 2010 - 12:32:30 AM


Files produced by the author(s)


  • HAL Id : inria-00182044, version 1




Stephane Petti, Thierry Fraichard. Reactive Planning Under Uncertainty Among Moving Obstacles. Proc. of the Int. Symp. on Robotics, Nov 2005, Tokyo (JP), France. ⟨inria-00182044⟩



Record views


Files downloads