IEEE - Institute of Electrical and Electronics Engineers, Inc. - Planning under topological constraints using beam-graphs

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Venkatraman Narayanan ; Paul Vernaza ; Maxim Likhachev ; Steven M. LaValle
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 431 - 437
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630611
Regular:

We present a framework based on graph search for navigation in the plane with a variety of topological constraints. The method is based on modifying a standard graph-based navigation approach to... View More

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