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Title: Completeness of randomized kinodynamic planners with state-based steering
Authors: Caron, Stephane
Pham, Quang-Cuong
Nakamura, Yoshihiko
Keywords: Planning
Issue Date: 2014
Source: Caron, S., Pham, Q.-C., & Nakamura, Y. (2014). Completeness of randomized kinodynamic planners with state-based steering. 2014 IEEE International Conference on Robotics and Automation (ICRA), 5818-5823.
Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)
Abstract: The panorama of probabilistic completeness results for kinodynamic planners is still confusing. Most existing completeness proofs require strong assumptions that are difficult, if not impossible, to verify in practice. To make completeness results more useful, it is thus sensible to establish a classification of the various types of constraints and planning methods, and then attack each class with specific proofs and hypotheses that can be verified in practice. We propose such a classification, and provide a proof of probabilistic completeness for an important class of planners, namely those whose steering method is based on the interpolation of system trajectories in the state space. We also provide design guidelines for the interpolation function and discuss two criteria arising from our analysis: local boundedness and acceleration compliance.
DOI: 10.1109/ICRA.2014.6907714
Schools: School of Mechanical and Aerospace Engineering 
Rights: © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [].
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Conference Papers

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