PiP-X: Online feedback motion planning/replanning in dynamic environments using invariant funnels

Computing kinodynamically feasible motion plans and repairing them on-the-fly as the environment changes is a challenging, yet relevant problem in robot-navigation. We propose a novel online single-query sampling-based motion re-planning algorithm - PiP-X, using finite-time invariant sets - funnels....

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Veröffentlicht in:	arXiv.org 2024-06
Hauptverfasser:	Jaffar, Mohamed Khalid M, Otte, Michael
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Computation Computer Science - Robotics Control theory Dynamical systems Feasibility Feedback Funnels Invariants Motion planning Nonlinear systems Planning Rewiring Robots Sampling Set theory Shortest-path problems Stability analysis Systems analysis Trajectories
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