A real time implementable all-pair dynamic planning algorithm for robot navigation based on the renormalized measure of probabilistic regular languages

Wei Lu; Ishanu Chattopadhyay; Goutham Mallapragada; Asok Ray

doi:10.1109/ACC.2009.5160373

A real time implementable all-pair dynamic planning algorithm for robot navigation based on the renormalized measure of probabilistic regular languages

Wei Lu, Ishanu Chattopadhyay, Goutham Mallapragada, Asok Ray

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The recently reported planning algorithm is modified to handle on-the-fly dynamic updates to the obstacle map. The modified algorithm called All-Pair-Dynamic-Planning(APDP), models the problem of robot path planning in the framework of finite state probabilistic automata and solves the all-pair planning problem in one setting. We use the concept of renormalized measure of regular languages to plan paths with automated trade-off between path length and robustness under dynamic uncertainties, from any starting location to any goal in the given map. The dynamic updating feature of APDP efficiently updates path plans to incorporate newly learnt information about the working environment.

Original language	English (US)
Title of host publication	2009 American Control Conference, ACC 2009
Pages	5174-5179
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2009.5160373
State	Published - 2009
Event	2009 American Control Conference, ACC 2009 - St. Louis, MO, United States Duration: Jun 10 2009 → Jun 12 2009

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2009 American Control Conference, ACC 2009
Country/Territory	United States
City	St. Louis, MO
Period	6/10/09 → 6/12/09

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2009.5160373

Cite this

Lu, W., Chattopadhyay, I., Mallapragada, G., & Ray, A. (2009). A real time implementable all-pair dynamic planning algorithm for robot navigation based on the renormalized measure of probabilistic regular languages. In 2009 American Control Conference, ACC 2009 (pp. 5174-5179). Article 5160373 (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2009.5160373

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title = "A real time implementable all-pair dynamic planning algorithm for robot navigation based on the renormalized measure of probabilistic regular languages",

abstract = "The recently reported planning algorithm is modified to handle on-the-fly dynamic updates to the obstacle map. The modified algorithm called All-Pair-Dynamic-Planning(APDP), models the problem of robot path planning in the framework of finite state probabilistic automata and solves the all-pair planning problem in one setting. We use the concept of renormalized measure of regular languages to plan paths with automated trade-off between path length and robustness under dynamic uncertainties, from any starting location to any goal in the given map. The dynamic updating feature of APDP efficiently updates path plans to incorporate newly learnt information about the working environment.",

author = "Wei Lu and Ishanu Chattopadhyay and Goutham Mallapragada and Asok Ray",

year = "2009",

doi = "10.1109/ACC.2009.5160373",

language = "English (US)",

isbn = "9781424445240",

series = "Proceedings of the American Control Conference",

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note = "2009 American Control Conference, ACC 2009 ; Conference date: 10-06-2009 Through 12-06-2009",

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Lu, W, Chattopadhyay, I, Mallapragada, G & Ray, A 2009, A real time implementable all-pair dynamic planning algorithm for robot navigation based on the renormalized measure of probabilistic regular languages. in 2009 American Control Conference, ACC 2009., 5160373, Proceedings of the American Control Conference, pp. 5174-5179, 2009 American Control Conference, ACC 2009, St. Louis, MO, United States, 6/10/09. https://doi.org/10.1109/ACC.2009.5160373

A real time implementable all-pair dynamic planning algorithm for robot navigation based on the renormalized measure of probabilistic regular languages. / Lu, Wei; Chattopadhyay, Ishanu; Mallapragada, Goutham et al.
2009 American Control Conference, ACC 2009. 2009. p. 5174-5179 5160373 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - The recently reported planning algorithm is modified to handle on-the-fly dynamic updates to the obstacle map. The modified algorithm called All-Pair-Dynamic-Planning(APDP), models the problem of robot path planning in the framework of finite state probabilistic automata and solves the all-pair planning problem in one setting. We use the concept of renormalized measure of regular languages to plan paths with automated trade-off between path length and robustness under dynamic uncertainties, from any starting location to any goal in the given map. The dynamic updating feature of APDP efficiently updates path plans to incorporate newly learnt information about the working environment.

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A real time implementable all-pair dynamic planning algorithm for robot navigation based on the renormalized measure of probabilistic regular languages

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