DocumentCode
2059285
Title
Closed loop motion plans for mobile robots
Author
Esposito, Joel M. ; Kumar, Vijay
Author_Institution
Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
Volume
3
fYear
2000
fDate
2000
Firstpage
2777
Abstract
We discuss a game theoretic approach to the design of closed loop feedback laws to solve sensor based motion planning problems for mobile robots. Our approach provides a framework for dealing with environmental uncertainty, and, by explicitly accounting for the sensor dynamics, a formal way of combining exploratory and goal directed motions. We focus on methods of devising optimal feedback laws, using finite dimensional parametrizations, under the worst case uncertainty for several illustrative examples
Keywords
closed loop systems; feedback; game theory; mobile robots; path planning; uncertainty handling; closed loop systems; feedback; game theory; mobile robots; motion planning; parametrization; uncertainty handling; Feedback loop; Game theory; Mechanical engineering; Mobile robots; Motion planning; Orbital robotics; Path planning; Robot kinematics; Robot sensing systems; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846448
Filename
846448
Link To Document