Approximate kinodynamic planning using L2-norm dynamic bounds

Approximate Kinodynamic Planning Using L2-norm Dynamic Bounds∗

In this paper we address the issue of kinodynamic motion planning. Given a point that moves with bounded acceleration and velocity, we wish to find the time-optimal trajectory from a start state to a goal state (a state consists of both a position and a velocity). As finding exact optimal solutions to this problem seems very hard, we present a provably good approximation algorithm using the L2 ...

Approximate Kinodynamic Planning Using L2-norm Dynamic Bounds

Approximate Kinodynamic Planning Using &-Norm Dynamic Bounds

h this paper we address the issue of kinodynamic motion planning. Given a point that moves with bounded acceleration and velocity, we wish to find the time-optimal trajectory from a start state to a goal state (a state consists of both a position and a velocity). As finding exact optimal solutions to this problem seems very hard, we present a provably good approximation algorithm using the L2 n...

Patient admission planning using Approximate Dynamic Programming

Tactical planning in hospitals involves elective patient admission planning and the allocation of hospital resource capacities. We propose a method to develop a tactical resource allocation and patient admission plan that takes stochastic elements into consideration, thereby providing robust plans. Our method is developed in an Approximate Dynamic Programming (ADP) framework and copes with mult...

Kinodynamic Motion Planning 1 Kinodynamic Motion Planning 5

Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must nd a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity while avoiding obstacles by a safety margin and respecting constraints on velocity and acceleration. We consider th...