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Robust path planning in the plane

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3 Author(s)
F. De La Rosa ; LIFIA Res. Lab., Rhone-Alpes Inst., Grenoble, France ; C. Laugier ; J. Najera

This work presents an approach to plan motion strategies for robotics tasks constrained by uncertainty in position, orientation, and control. Our approach operates in a (x, y, θ) configuration space and it combines two local functions: a contact-based attraction function and an exploration function. Compliant motions are used to reduce the position/orientation uncertainty. An explicit geometric model for the uncertainty is defined to evaluate the reachability of the obstacle surfaces when the robot translates in free space

Published in:

IEEE Transactions on Robotics and Automation  (Volume:12 ,  Issue: 2 )