On the Efficiency of the SST Planner to Find Time Optimal Trajectories Among Obstacles With a DDR Under Second Order Dynamics

Article Robotics

On the Local Planners in the RRT* for Dynamical Systems and Their Reusability for Compound Cost Functionals

Israel Becerra et al.

Summary: This article explores the properties of local planners for nonholonomic dynamical systems to achieve asymptotic global optimality in a sampling-based planner, the RRT*. Formal results are presented regarding length optimal trajectories under a nonholonomic metric, with an analysis on necessary or sufficient conditions for the local planners. Additionally, concepts relevant to complex robotic systems such as detachability and time dominance are introduced and illustrated through examples.

IEEE TRANSACTIONS ON ROBOTICS (2022)

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Proceedings Paper Automation & Control Systems

Asymptotically Optimal Kinodynamic Planning Using Bundles of Edges

Rahul Shome et al.

Summary: This paper discusses the theoretical foundation of sampling-based motion planners, emphasizing roadmap or tree structures to guarantee optimality and completeness. A multi-query framework is proposed for kinodynamic planning, where kinodynamic edges are sampled to cover the state space and a forward search tree is used to recover connectivity from the start point, ensuring asymptotic optimality. The strategy of sampling kinodynamic edges is shown to be a promising new paradigm.

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) (2021)

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Article Computer Science, Artificial Intelligence