@inproceedings{74863d3b45e9481094cf6a27f0a3c46b,
title = "Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning",
abstract = "Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees but at high computational cost. This work builds on a recent development called FaSTrack in which a slow offline computation provides a modular safety guarantee for a faster online planner. We introduce the notion of 'meta-planning' in which a refined offline computation enables safe switching between different online planners. This provides autonomous systems with the ability to adapt motion plans to a priori unknown environments in real-time as sensor measurements detect new obstacles, and the flexibility to maneuver differently in the presence of obstacles than they would in free space, all while maintaining a strict safety guarantee. We demonstrate the meta-planning algorithm both in simulation and in hardware using a small Crazyflie 2.0 quadrotor.",
author = "David Fridovich-Keil and Herbert, {Sylvia L.} and Fisac, {Jaime F.} and Sampada Deglurkar and Tomlin, {Claire J.}",
year = "2018",
month = sep,
day = "10",
doi = "10.1109/ICRA.2018.8460863",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "387--394",
booktitle = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018",
address = "United States",
note = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018 ; Conference date: 21-05-2018 Through 25-05-2018",
}