TY - GEN
T1 - Safely probabilistically complete real-time planning and exploration in unknown environments
AU - Fridovich-Keil, David
AU - Fisac, Jaime F.
AU - Tomlin, Claire J.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - We present a new framework for motion planning that wraps around existing kinodynamic planners and guarantees recursive feasibility when operating in a priori unknown, static environments. Our approach makes strong guarantees about overall safety and collision avoidance by utilizing a robust controller derived from reachability analysis. We ensure that motion plans never exit the safe backward reachable set of the initial state, while safely exploring the space. This preserves the safety of the initial state, and guarantees that that we will eventually find the goal if it is possible to do so while exploring safely. We implement our framework in the Robot Operating System (ROS) software environment and demonstrate it in a real-time simulation.
AB - We present a new framework for motion planning that wraps around existing kinodynamic planners and guarantees recursive feasibility when operating in a priori unknown, static environments. Our approach makes strong guarantees about overall safety and collision avoidance by utilizing a robust controller derived from reachability analysis. We ensure that motion plans never exit the safe backward reachable set of the initial state, while safely exploring the space. This preserves the safety of the initial state, and guarantees that that we will eventually find the goal if it is possible to do so while exploring safely. We implement our framework in the Robot Operating System (ROS) software environment and demonstrate it in a real-time simulation.
UR - http://www.scopus.com/inward/record.url?scp=85071429747&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2019.8793905
DO - 10.1109/ICRA.2019.8793905
M3 - Conference contribution
AN - SCOPUS:85071429747
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 7470
EP - 7476
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -