Single Shot Motion Planning
supported by NSF, Texas Higher Education Coordinating Board
Daniel Vallejo, Nancy Amato

In this project, we are developing an adaptive framework for single shot motion planning (i.e., planning without preprocessing). This framework can be used in any situation, and in particular, is suitable for crowded environments in which the robot's free C-space has narrow corridors. The main idea of the proposed framework is that one should adaptively select a planner whose strengths match the current situation, and then switch to a different planner when circumstances change.

Papers

An Adaptive Framework for `Single Shot' Motion Planning: A Self-Tuning System for Rigid and Articulated Robots, Daniel Vallejo, Ian Remmler, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 21-26, Seoul, Korea, May 2001.
Proceedings(ps, pdf, abstract)

An Adaptive Framework for `Single Shot' Motion Planning, Daniel R. Vallejo, Christopher Jones, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. 1722-1727, Kagawa University, Takamatsu, Japan, Nov 2000. Also, Technical Report, TR99-024, Department of Computer Science, Texas A&M University, Oct 1999.
Proceedings(pdf, abstract)

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