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Multiresolution Motion Planning for Autonomous Agents via Wavelet-Based Cell Decompositions

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2 Author(s)
Cowlagi, R.V. ; Lab. for Inf. & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA ; Tsiotras, P.

We present a path- and motion-planning scheme that is “multiresolution” both in the sense of representing the environment with high accuracy only locally and in the sense of addressing the vehicle kinematic and dynamic constraints only locally. The proposed scheme uses rectangular multiresolution cell decompositions, efficiently generated using the wavelet transform. The wavelet transform is widely used in signal and image processing, with emerging applications in autonomous sensing and perception systems. The proposed motion planner enables the simultaneous use of the wavelet transform in both the perception and in the motion-planning layers of vehicle autonomy, thus potentially reducing online computations. We rigorously prove the completeness of the proposed path-planning scheme, and we provide numerical simulation results to illustrate its efficacy.

Published in:

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:42 ,  Issue: 5 )

Date of Publication:

Oct. 2012

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