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Workshop on Geometric Reasoning for Perception and Action

GRPA 1991: Geometric Reasoning for Perception and Action pp 69–83Cite as

Landmark-based robot motion planning

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Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 708))

Abstract

This paper considers a reduced version of the general motion planning problem with uncertainty and an implemented complete polynomial algorithm solving it. This algorithm computes a guaranteed plan by backchaining nondirectional preimages of the goal until one fully contains the set of possible initial positions of the robot. It assumes that “landmarks” are scattered across the workspace. Robot control and sensing are perfect within the fields of influence of these landmarks, while control is imperfect and sensing null outside these fields. We propose extensions of the planning algorithm that eliminate the need for several of these assumptions.

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References

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Authors and Affiliations

  1. Robotics Laboratory, Department of Computer Science, Stanford University, 94305, Stanford, CA, USA

    Anthony Lazanas & Jean-Claude Latombe

Authors
  1. Anthony Lazanas
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  2. Jean-Claude Latombe
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Editor information

Christian Laugier

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© 1993 Springer-Verlag Berlin Heidelberg

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Lazanas, A., Latombe, JC. (1993). Landmark-based robot motion planning. In: Laugier, C. (eds) Geometric Reasoning for Perception and Action. GRPA 1991. Lecture Notes in Computer Science, vol 708. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-57132-9_5

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  • DOI: https://doi.org/10.1007/3-540-57132-9_5

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-57132-2

  • Online ISBN: 978-3-540-47913-0

  • eBook Packages: Springer Book Archive

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