Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning

David Fridovich-Keil, Sylvia L. Herbert, Jaime F. Fisac, Sampada Deglurkar, Claire J. Tomlin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations

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.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages387-394
Number of pages8
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period5/21/185/25/18

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Fridovich-Keil, D., Herbert, S. L., Fisac, J. F., Deglurkar, S., & Tomlin, C. J. (2018). Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 387-394). [8460863] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460863