Mostra el registre d'ítem simple
Randomized kinodynamic planning for constrained systems
dc.contributor.author | Bordalba Llaberia, Ricard |
dc.contributor.author | Ros Giralt, Lluís |
dc.contributor.author | Porta Pleite, Josep Maria |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2018-12-03T14:05:03Z |
dc.date.available | 2018-12-03T14:05:03Z |
dc.date.issued | 2018 |
dc.identifier.citation | Bordalba, 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.isbn | 2577-087X |
dc.identifier.uri | http://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.abstract | Kinodynamic 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.extent | 8 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.other | robot dynamics |
dc.subject.other | robot kinematics |
dc.subject.other | Kindynamic Planning |
dc.subject.other | Manifolds |
dc.subject.other | Dynamics |
dc.subject.other | Constrained Systems |
dc.subject.other | Parallel Robots |
dc.title | Randomized kinodynamic planning for constrained systems |
dc.type | Conference report |
dc.contributor.group | Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots |
dc.identifier.doi | 10.1109/ICRA.2018.8460753 |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/8460753 |
dc.rights.access | Open Access |
local.identifier.drac | 23440124 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO/2PE/MDM-2016-0656 |
dc.relation.projectid | info: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.author | Bordalba, R.; Ros, L.; Porta, J. |
local.citation.contributor | IEEE International Conference on Robotics and Automation |
local.citation.publicationName | Proceedings of 2018 IEEE International Conference on Robotics and Automation (ICRA) |
local.citation.startingPage | 7079 |
local.citation.endingPage | 7086 |