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Title: Safe task planning integrating uncertainties and local maps federations

Abstract

This paper deals with the generation of safe tasks for displacement missions of a nonholonomic mobile robot in a mapped indoor environment. The goal of this study is to plan safe actions (path-following) as well as observations (they call it local maps federation [LMF]), leading the robot to configurations where pertinent features can be sensed, thus attaining best localization relative to its environment. A path-planning method dealing with uncertainties is proposed, where both uncertainties in localization and in control of a nonholonomic mobile robot are managed. Maps uncertainties are handled using the local map concept, which is introduced as a set of the best landmarks used for planning and executing robust motion movements. The safeness of the proposed method is due to the mixing between the planning phase and the navigation phase.

Authors:
;
Publication Date:
Research Org.:
UMR CNRS, Compiegne (FR)
OSTI Identifier:
20067740
Resource Type:
Journal Article
Journal Name:
International Journal of Robotics Research
Additional Journal Information:
Journal Volume: 19; Journal Issue: 6; Other Information: PBD: Jun 2000; Journal ID: ISSN 0278-3649
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; ROBOTS; CONTROL SYSTEMS; TRAJECTORIES; MAPS; POSITIONING

Citation Formats

Lambert, A., and Fort-Piat, N.L. Safe task planning integrating uncertainties and local maps federations. United States: N. p., 2000. Web. doi:10.1177/02783640022067049.
Lambert, A., & Fort-Piat, N.L. Safe task planning integrating uncertainties and local maps federations. United States. doi:10.1177/02783640022067049.
Lambert, A., and Fort-Piat, N.L. Thu . "Safe task planning integrating uncertainties and local maps federations". United States. doi:10.1177/02783640022067049.
@article{osti_20067740,
title = {Safe task planning integrating uncertainties and local maps federations},
author = {Lambert, A. and Fort-Piat, N.L.},
abstractNote = {This paper deals with the generation of safe tasks for displacement missions of a nonholonomic mobile robot in a mapped indoor environment. The goal of this study is to plan safe actions (path-following) as well as observations (they call it local maps federation [LMF]), leading the robot to configurations where pertinent features can be sensed, thus attaining best localization relative to its environment. A path-planning method dealing with uncertainties is proposed, where both uncertainties in localization and in control of a nonholonomic mobile robot are managed. Maps uncertainties are handled using the local map concept, which is introduced as a set of the best landmarks used for planning and executing robust motion movements. The safeness of the proposed method is due to the mixing between the planning phase and the navigation phase.},
doi = {10.1177/02783640022067049},
journal = {International Journal of Robotics Research},
issn = {0278-3649},
number = 6,
volume = 19,
place = {United States},
year = {2000},
month = {6}
}