AND/OR search techniques for chance constrained motion primitive path planning

Gutow, Geordan; Rogers, Jonathan D.

doi:10.1016/j.robot.2021.103991

Title: AND/OR search techniques for chance constrained motion primitive path planning

Journal Article · 01 March 2022 · Robotics and Autonomous Systems

DOI: https://doi.org/10.1016/j.robot.2021.103991 · OSTI ID:1961455

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Sponsoring Organization:: USDOE National Nuclear Security Administration (NNSA)

Grant/Contract Number:: NA0003525

OSTI ID:: 1961455

Journal Information:: Robotics and Autonomous Systems, Journal Name: Robotics and Autonomous Systems Journal Issue: C Vol. 149; ISSN 0921-8890

Publisher:: ElsevierCopyright Statement

Country of Publication:: Netherlands

Language:: English

References (16)

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General Branch and Bound, and its relation to A∗ and AO∗ Nau, Dana S.; Kumar, Vipin; Kanal, Laveen Artificial Intelligence, Vol. 23, Issue 1 https://doi.org/10.1016/0004-3702(84)90004-3	journal	May 1984
Admissibility of AO∗ when heuristics overestimate Chakrabarti, P. P.; Ghose, S.; DeSarkar, S. C. Artificial Intelligence, Vol. 34, Issue 1 https://doi.org/10.1016/0004-3702(87)90005-1	journal	December 1987
Admissible heuristic search in and/or graphs Bagchi, A.; Mahanti, A. Theoretical Computer Science, Vol. 24, Issue 2 https://doi.org/10.1016/0304-3975(83)90050-6	journal	July 1983
An efficient algorithm for searching implicit AND/OR graphs with cycles Jiménez, P.; Torras, C. Artificial Intelligence, Vol. 124, Issue 1 https://doi.org/10.1016/S0004-3702(00)00063-1	journal	November 2000
LAO∗: A heuristic search algorithm that finds solutions with loops Hansen, Eric A.; Zilberstein, Shlomo Artificial Intelligence, Vol. 129, Issue 1-2 https://doi.org/10.1016/S0004-3702(01)00106-0	journal	June 2001
Game tree algorithms and solution trees Pijls, Wim; de Bruin, Arie Theoretical Computer Science, Vol. 252, Issue 1-2 https://doi.org/10.1016/S0304-3975(00)00082-7	journal	February 2001
GPU based generation of state transition models using simulations for unmanned surface vehicle trajectory planning Thakur, Atul; Svec, Petr; Gupta, Satyandra K. Robotics and Autonomous Systems, Vol. 60, Issue 12 https://doi.org/10.1016/j.robot.2012.07.009	journal	December 2012
A hierarchical approach for primitive-based motion planning and control of autonomous vehicles Grymin, David J.; Neas, Charles B.; Farhood, Mazen Robotics and Autonomous Systems, Vol. 62, Issue 2 https://doi.org/10.1016/j.robot.2013.10.003	journal	February 2014
Hybrid Risk-Aware Conditional Planning with Applications in Autonomous Vehicles Huang, Xin; Jasour, Ashkan; Deyo, Matthew 2018 IEEE Conference on Decision and Control (CDC) https://doi.org/10.1109/CDC.2018.8619771	conference	December 2018
Koopman Operator Method for Chance-Constrained Motion Primitive Planning Gutow, Geordan; Rogers, Jonathan D. IEEE Robotics and Automation Letters, Vol. 5, Issue 2 https://doi.org/10.1109/LRA.2020.2969187	journal	April 2020
Maneuver-based motion planning for nonlinear systems with symmetries Frazz, E.; Dahleh, M. A.; Feron, E. IEEE Transactions on Robotics, Vol. 21, Issue 6 https://doi.org/10.1109/TRO.2005.852260	journal	December 2005
AND/OR graph heuristic search methods Mahanti, A.; Bagchi, A. Journal of the ACM, Vol. 32, Issue 1 https://doi.org/10.1145/2455.2459	journal	January 1985
Motion primitives and 3D path planning for fast flight through a forest Paranjape, Aditya A.; Meier, Kevin C.; Shi, Xichen The International Journal of Robotics Research, Vol. 34, Issue 3 https://doi.org/10.1177/0278364914558017	journal	February 2015
Funnel libraries for real-time robust feedback motion planning Majumdar, Anirudha; Tedrake, Russ The International Journal of Robotics Research, Vol. 36, Issue 8 https://doi.org/10.1177/0278364917712421	journal	June 2017
Koopman Operator Approach to Optimal Control Selection Under Uncertainty Meyers, Joseph J.; Leonard, Andrew M.; Rogers, Jonathan D. 2019 American Control Conference (ACC) https://doi.org/10.23919/ACC.2019.8814461	conference	July 2019

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