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Conference papers

Steps towards safe navigation in open and dynamic environments

Christian Laugier 1 Stephane Petti 1 Dizan Alejandro Vasquez Govea 1 Manuel Yguel 1 Thierry Fraichard 1 Olivier Aycard 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 : Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art. Bassically, these problems can be classified into three main categories: SLAM in dynamic environments; Detection, characterization, and behavior prediction of the potential moving obstacles; On-line motion planning and safe navigation decision based on world state predictions. This paper addresses some aspects of these problems and presents our latest approaches and results. The solutions we have implemented are mainly based on the followings paradigms: Characterization and motion prediction of the observed moving entities using bayesian programming; Online goal-oriented navigation decisions using the Partial Motion Planning (PMP) paradigm.
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Submitted on : Wednesday, October 24, 2007 - 6:35:33 PM
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  • HAL Id : inria-00182048, version 1




Christian Laugier, Stephane Petti, Dizan Alejandro Vasquez Govea, Manuel Yguel, Thierry Fraichard, et al.. Steps towards safe navigation in open and dynamic environments. Proc. of the IEEE ICRA'05 Workshop on Autonomous Navigation in Dynamic Environments, Apr 2005, Barcelona (ES), France. ⟨inria-00182048⟩



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