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Uncertainty-based online mapping and motion planning for marine robotics guidance

Pairet, Èric, Hernández, Juan David, Lahijanian, Morteza and Carreras, Marc 2018. Uncertainty-based online mapping and motion planning for marine robotics guidance. Presented at: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 1-5 October 2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 10.1109/IROS.2018.8593394

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In real-world robotics, motion planning remains to be an open challenge. Not only robotic systems are required to move through unexplored environments, but also their manoeuvrability is constrained by their dynamics and often suffer from uncertainty. One approach to overcome this problem is to incrementally map the surroundings while, simultaneously, planning a safe and feasible path to a desired goal. This is especially critical in underwater environments, where autonomous vehicles must deal with both motion and environment uncertainties. In order to cope with these constraints, this work proposes an uncertainty-based framework for mapping and planning feasible motions online with probabilistic safety-guarantees. The proposed approach deals with the motion, probabilistic safety, and online computation constraints by (i) incrementally representing the environment as a collection of local maps, and (ii) iteratively (re)planning kinodynamically-feasible and probabilistically-safe paths to goal. The proposed framework is evaluated on the Sparus II, a nonholonomic torpedo-shaped AUV, by conducting simulated and real-world trials, thus proving the efficacy of the method and its suitability even

Item Type: Conference or Workshop Item (Paper)
Date Type: Publication
Status: Published
Schools: Engineering
Additional Information: "© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."
ISBN: 9781538680957
ISSN: 2153-0866
Date of First Compliant Deposit: 19 February 2021
Date of Acceptance: 29 June 2018
Last Modified: 12 Apr 2021 10:07

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