Show simple item record

dc.contributor.authorBordalba Llaberia, Ricard
dc.contributor.authorRos Giralt, Lluís
dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2018-12-03T14:05:03Z
dc.date.available2018-12-03T14:05:03Z
dc.date.issued2018
dc.identifier.citationBordalba, R., Ros, L., Porta, J. Randomized kinodynamic planning for constrained systems. A: IEEE International Conference on Robotics and Automation. "Proceedings of 2018 IEEE International Conference on Robotics and Automation (ICRA)". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 7079-7086.
dc.identifier.isbn2577-087X
dc.identifier.urihttp://hdl.handle.net/2117/125331
dc.description© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
dc.description.abstractKinodynamic RRT planners are considered to be general tools for effectively finding feasible trajectories for high-dimensional dynamical systems. However, they struggle when holonomic constraints are present in the system, such as those arising in parallel manipulators, in robots that cooperate to fulfill a given task, or in situations involving contacts with the environment. In such cases, the state space becomes an implicitly-defined manifold, which makes the diffusion heuristic inefficient and leads to inaccurate dynamical simulations. To address these issues, this paper presents an extension of the kinodynamic RRT planner that constructs an atlas of the state-space manifold incrementally, and uses this atlas both to generate random states and to dynamically steer the system towards such states. To the best of our knowledge, this is the first randomized kinodynamic planner that explicitly takes holonomic constraints into account. We validate the approach in significantly-complex systems.
dc.format.extent8 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherrobot dynamics
dc.subject.otherrobot kinematics
dc.subject.otherKindynamic Planning
dc.subject.otherManifolds
dc.subject.otherDynamics
dc.subject.otherConstrained Systems
dc.subject.otherParallel Robots
dc.titleRandomized kinodynamic planning for constrained systems
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots
dc.identifier.doi10.1109/ICRA.2018.8460753
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/8460753
dc.rights.accessOpen Access
local.identifier.drac23440124
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO/2PE/MDM-2016-0656
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO//DPI2014-57220-C2-2-P/ES/ESTRATEGIAS DE CONTROL PARA UN ROBOT ACTUADO POR CABLES PARA SIMULACION DE BAJA GRAVEDAD/
local.citation.authorBordalba, R.; Ros, L.; Porta, J.
local.citation.contributorIEEE International Conference on Robotics and Automation
local.citation.publicationNameProceedings of 2018 IEEE International Conference on Robotics and Automation (ICRA)
local.citation.startingPage7079
local.citation.endingPage7086


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record