Title :
Multiscale motion planning
Author :
Albus, J. ; Meystel, A. ; Uzzaman, S.
Author_Institution :
Intelligent Syst. Div., Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
Abstract :
Multiscale planning is introduced as a nested system of state space search processes which provide for exceptionally efficient computational algorithms. It is demonstrated that search in the output space allows for efficient planning/control procedures. The results of 2-level nested hierarchical planning are given as a representative simulation example. It is demonstrated that multiscale searching achieves results similar to those obtained by human strategies of planning
Keywords :
computational complexity; hierarchical systems; path planning; robots; search problems; state-space methods; 2-level nested hierarchical planning; autonomous robots; efficient computational algorithms; multiscale motion planning; nested state space search processes; Automatic control; Computational intelligence; Control system synthesis; Humans; Motion planning; Space technology; State-space methods; Strategic planning; Switches; Vehicle dynamics;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 1997. CIRA'97., Proceedings., 1997 IEEE International Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-8186-8138-1
DOI :
10.1109/CIRA.1997.613833
