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Sensor based motion planning : the hierarchical generalized Voronoi graph

Citation

Choset, Howie (1996) Sensor based motion planning : the hierarchical generalized Voronoi graph. Dissertation (Ph.D.), California Institute of Technology. http://resolver.caltech.edu/CaltechETD:etd-12182007-090504

Abstract

Sensor based motion planning incorporates sensor information reflecting the state of a robot's environment into its planning process, whereas traditional approaches assume complete prior knowledge of the robot's environment. Recent research has focused on the development and incremental construction of the hierarchical generalized Voronoi graph (HGVG), which is a concise representation of a robot's environment. The HGVG is advantageous in that it lends itself to sensor based construction in a rigorous and provably correct manner. With this approach, a robot can enter an unknown environment, incrementally construct the HGVG, and then use the HGVG for future excursions in the environment. Simulations and experiments validate this approach.

Item Type:Thesis (Dissertation (Ph.D.))
Degree Grantor:California Institute of Technology
Division:Engineering and Applied Science
Major Option:Mechanical Engineering
Thesis Availability:Restricted to Caltech community only
Research Advisor(s):
  • Burdick, Joel Wakeman
Thesis Committee:
  • Burdick, Joel Wakeman (chair)
  • Lewis, Andrew D.
  • Antonsson, Erik K.
  • Perona, Pietro
  • Murray, Richard M.
Defense Date:5 March 1996
Record Number:CaltechETD:etd-12182007-090504
Persistent URL:http://resolver.caltech.edu/CaltechETD:etd-12182007-090504
Default Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:5048
Collection:CaltechTHESIS
Deposited By: Imported from ETD-db
Deposited On:08 Jan 2008
Last Modified:26 Dec 2012 03:14

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