DocumentCode
716669
Title
Multi-scale perception and path planning on probabilistic obstacle maps
Author
Hauer, Florian ; Kundu, Abhijit ; Rehg, James M. ; Tsiotras, Panagiotis
Author_Institution
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fYear
2015
fDate
26-30 May 2015
Firstpage
4210
Lastpage
4215
Abstract
We present a path-planning algorithm that leverages a multi-scale representation of the environment. The algorithm works in n dimensions. The information of the environment is stored in a tree representing a recursive dyadic partitioning of the search space. The information used by the algorithm is the probability that a node of the tree corresponds to an obstacle in the search space. The complexity of the proposed algorithm is analyzed and its completeness is shown.
Keywords
collision avoidance; computational complexity; recursive estimation; completeness algorithm; complexity algorithm; multiscale perception; path-planning algorithm; probabilistic obstacle maps; search space recursive dyadic partitioning; Complexity theory; Hypercubes; Partitioning algorithms; Robots; Sensors; Spatial resolution; Three-dimensional displays;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location
Seattle, WA
Type
conf
DOI
10.1109/ICRA.2015.7139779
Filename
7139779
Link To Document