Robust Path Planning in the
نویسندگان
چکیده
347 Robust Path Planning in the Plane Fernando De la Rosa, Christian Laugier and Jos e N ajera Abstract|This work presents an approach to plan motion strategies for robotics tasks constrained by uncertainty in position, orientation and control. Our approach operates in a (x; y; ) con guration space and it combines two local functions: a contact-based attraction function and an exploration function. Compliant motions are used to reduce the position/orientation uncertainty. An explicit geometric model for the uncertainty is de ned to evaluate the reachability of the obstacle surfaces when the robot translates in free space.
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