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PUBLISHER

Stefan cel Mare
University of Suceava
Faculty of Electrical Engineering and
Computer Science
13, Universitatii Street
Suceava - 720229
ROMANIA

Print ISSN: 1582-7445
Online ISSN: 1844-7600
WorldCat: 644266260
doi: 10.4316/AECE


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2016-Jun-14
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  1/2014 - 9

Visibility-based Planners for Mobile Robots Capable to Handle Path Existence Queries in Temporal Logic

POMARLAN, M. See more information about POMARLAN, M. on SCOPUS See more information about POMARLAN, M. on IEEExplore See more information about POMARLAN, M. on Web of Science
 
Click to see author's profile on See more information about the author on SCOPUS SCOPUS, See more information about the author on IEEE Xplore IEEE Xplore, See more information about the author on Web of Science Web of Science

Download PDF pdficon (734 KB) | Citation | Downloads: 267 | Views: 1,226

Author keywords
collision avoidance, computational efficiency, mobile robots, motion planning, reachability analysis, robot motion

References keywords
planning(14), motion(11), robotics(9), iros(9), robot(7), temporal(6), logic(6), icra(6), automation(6), systems(5)
Blue keywords are present in both the references section and the paper title.

About this article
Date of Publication: 2014-02-28
Volume 14, Issue 1, Year 2014, On page(s): 55 - 64
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2014.01009
Web of Science Accession Number: 000332062300009
SCOPUS ID: 84894612767

Abstract
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Over the past few years, sampling based planner algorithms have been applied to planning queries formulated in path existence temporal logic, a formal system that allows more complex specifications on a solution path and is useful for task planning for mobile robots or synthesizing controllers for dynamical systems. In this paper, we extend the visibility heuristic to planners capable to handle finite path existence temporal logic queries. Our interest is justified by the visibility heuristic's ability to construct small roadmaps that are fast to search. We find that the visibility heuristic must be amended so that it can reliably handle temporal logic queries and we propose a suitable modification of the heuristic. We then present a method to extract a solution path from a roadmap, if such a solution exists. Finally, we show how the planner can be used to generate looping paths by augmenting it with a gap reduction step.


References | Cited By  «-- Click to see who has cited this paper

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References Weight

Web of Science® Citations for all references: 1,587 TCR
SCOPUS® Citations for all references: 3,864 TCR

Web of Science® Average Citations per reference: 51 ACR
SCOPUS® Average Citations per reference: 125 ACR

TCR = Total Citations for References / ACR = Average Citations per Reference

We introduced in 2010 - for the first time in scientific publishing, the term "References Weight", as a quantitative indication of the quality ... Read more

Citations for references updated on 2016-12-08 10:17 in 120 seconds.




Note1: Web of Science® is a registered trademark of Thomson Reuters.
Note2: SCOPUS® is a registered trademark of Elsevier B.V.
Disclaimer: All queries to the respective databases were made by using the DOI record of every reference (where available). Due to technical problems beyond our control, the information is not always accurate. Please use the CrossRef link to visit the respective publisher site.

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Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania


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