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Constrained Motion Planning in Discrete State Spaces

  • Mihail Pivtoraiko
  • Alonzo Kelly
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 25)

Summary

We propose a principled method to create a search space for constrained motion planning, which efficiently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alternatives. This set of motion primitives preserves the connectivity of the representation while eliminating redundancy — leading to a very efficient structure for motion planning at the chosen resolution.

Keywords

Nonholonomic motion planning lattice control set 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Mihail Pivtoraiko
    • 1
  • Alonzo Kelly
    • 1
  1. 1.Robotics InstituteCarnegie Mellon UniversityUSA

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