Global Motion Planning for Modular Robots with Local Motion Primitives
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00205389" target="_blank" >RIV/68407700:21230/13:00205389 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICRA.2013.6630912" target="_blank" >http://dx.doi.org/10.1109/ICRA.2013.6630912</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2013.6630912" target="_blank" >10.1109/ICRA.2013.6630912</a>
Alternative languages
Result language
angličtina
Original language name
Global Motion Planning for Modular Robots with Local Motion Primitives
Original language description
The ability to move in complex environments is a key property required for deployment of modular robots in challenging applications like search & rescue missions or space exploration. Wide range of motion types like crawling or walking can be achieved using Central Pattern Generators producing periodic control signals. Although these motions can be very effective to steer robots in their vicinity or in a given direction, they need to be switched to reach a far position in the environment. This paper presents a novel modification of Rapidly Exploring Random Tree (RRT) algorithm for modular robots. For efficient exploration of the configuration space, predefined motion primitives are used. While the motion primitives provide effective local motions, theRRT-based planner switches them in order to reach the desired global goal.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation
ISBN
978-1-4673-5641-1
ISSN
1050-4729
e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
IEEE
Place of publication
Piscataway
Event location
Karlsruhe
Event date
May 6, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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