{"title":"Nested Motion Planning for an Autonomous Robot","authors":"J. Albus, A. Meystel, S. Uzzaman","doi":"10.1109/AEROCS.1993.721017","DOIUrl":null,"url":null,"abstract":"Gbstract This paper addresses some of the issues associated with the planning in ii hierarchical systems. Specifically, it is required that controls for an autonomous vehicle be synthesized as the result of the nested hierarchical analysis of the minimum time motion problem. It is demonstrated that search in the output space allows for efficient planningkontrol procedures. The results of 2level nested hierarchical planning are given as a representative simulation example.","PeriodicalId":170527,"journal":{"name":"Proceedings. The First IEEE Regional Conference on Aerospace Control Systems,","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. The First IEEE Regional Conference on Aerospace Control Systems,","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AEROCS.1993.721017","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 11
Abstract
Gbstract This paper addresses some of the issues associated with the planning in ii hierarchical systems. Specifically, it is required that controls for an autonomous vehicle be synthesized as the result of the nested hierarchical analysis of the minimum time motion problem. It is demonstrated that search in the output space allows for efficient planningkontrol procedures. The results of 2level nested hierarchical planning are given as a representative simulation example.
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