IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Modular Framework for Motion Planning Using Safe-by-Design Motion Primitives

Author(s): Marijan Vukosavljev ; Zachary Kroeze ; Angela P. Schoellig ; Mireille E. Broucke
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1 - 20
ISSN (Electronic): 1941-0468
ISSN (Paper): 1552-3098
DOI: 10.1109/TRO.2019.2923335
Regular:

In this paper, we present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low-level motion primitives to generate... View More

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