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Sensor-Based Reactive Navigation in Unknown Convex Sphere Worlds

The 12th International Workshop on the Algorithmic Foundations of Robotics, 2016

(Best Paper Award Nominee)

OmurArslan and D. E. Koditschek
Electrical and Systems Engineering, University of Pennsylvania
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Sensor-Based Reactive Navigation in Unknown Convex Sphere Worlds
Abstract
       We construct a sensor-based feedback law that provably solves the real-time collision-free robot navigation problem in a compact convex Euclidean subset cluttered with unknown but sufficiently separated and strongly convex obstacles. Our algorithm introduces a novel use of separating hyperplanes for identifying the robotís local obstacle-free convex neighborhood, affording a reactive (online-computed) piecewise smooth and continuous closed-loop vector field whose smooth flow brings almost all configurations in the robotís free space to a designated goal location, with the guarantee of no collisions along the way. We further extend these provable properties to practically motivated limited range sensing models.
This work was supported in part by AFOSR under the CHASE MURI FA9550–10–1−0567.
BibTeX entry
@InProceedings{arslan_kod_WAFR2016,
  Title                    = {Sensor-Based Reactive Navigation in Unknown Convex Sphere Worlds},
  Author                   = {Omur Arslan and Daniel E. Koditschek},
  Booktitle                = {The 12th International Workshop on the Algorithmic Foundations of Robotics},
  Year                     = {2016}
}

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