IEEE Robotics & Automation Magazine - September 2011 - 55
*
By Amit Bhatia, Matthew R. Maly,
Lydia E. Kavraki, and Moshe Y. Vardi
T
his article describes an
approach for solving motion planning problems for
mobile robots involving temporal goals. Traditional motion
planning for mobile robotic systems
involves the construction of a motion
plan that takes the system from an initial
state to a set of goal states while avoiding
collisions with obstacles at all times. The
motion plan is also required to respect the
dynamics of the system that are typically
described by a set of differential equations.
A wide variety of techniques have been proposed over the last two decades to solve such
problems [1], [2].
Motivated by the desire to increase capabilities and automation of robotic systems and the
success in solving conventional motion planning
problems, there have been recent research efforts
that try to answer the following question: "Given
the state-of-the-art motion planning algorithms,
how can we use them as a basic building block for
solving motion planning problems involving complex goals and robots with complex dynamics?" In
Figure 1, an example of such a planning problem is
shown. (We recommend an online version for viewing all the figures in the article.)
Planning problems involving complex goals are not
a trivial extension of the traditional motion planning
problem. A variety of ideas have been proposed from
artificial intelligence (AI), control theory, formal methods, and hybrid systems' communities for solving such
IX
USHP
K&L
C
MSTO
© CO
A Multilayered Synergistic Approach
Digital Object Identifier 10.1109/MRA.2011.942115
Date of publication: 13 September 2011
1070-9932/11/$26.00ª2011 IEEE
SEPTEMBER 2011
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IEEE ROBOTICS & AUTOMATION MAGAZINE
*
55
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2011
IEEE Robotics & Automation Magazine - September 2011 - Cover1
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IEEE Robotics & Automation Magazine - September 2011 - Cover3
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