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Communication Dans Un Congrès Année : 2017

Robust Motion Planning Based on Sliding Horizon and Validated Simulation

Résumé

The main contribution of this article is the combination of set-membership methods with optimizing approach. Hence, a correct-by-construction algorithm is defined with the intrinsic properties to be robust to uncertainties as it relies on set-membership approach. Moreover, embedding the motion planning problem into a constraint satisfaction problem (CSP), and more precisely into a global optimiza- tion framework, the proposed algorithm produces an optimal free-collision path with respect to a given cost function which is minimized.
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Dates et versions

hal-01583836 , version 1 (07-09-2017)

Identifiants

  • HAL Id : hal-01583836 , version 1

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Elliot Brendel, Julien Alexandre Dit Sandretto, Alexandre Chapoutot. Robust Motion Planning Based on Sliding Horizon and Validated Simulation. 10th Summer Workshop on Interval Methods, and 3rd International Symposium on Set Membership - Applications, Reliability and Theory, Jun 2017, Manchester, United Kingdom. ⟨hal-01583836⟩
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