Locally computable navigation functions for sphere worlds

Grigoris Lionis; Xanthi Papageorgiou; Kostas J. Kyriakopoulos

doi:10.1109/ROBOT.2007.363615

Locally computable navigation functions for sphere worlds

Grigoris Lionis, Xanthi Papageorgiou, Kostas J. Kyriakopoulos

Electrical Engineering

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

Abstract

In this paper we present a new Navigation Function for a sphere world that can be computed locally with limited knowledge of the environment. By requiring smooth and not analytic NF, the effect of each obstacle is exactly nullified outside a sensing zone around the obstacle (the only required parameter is the width of the sensing zone). This allows the computation of the navigation function using information from a single obstacle each time. We present simulations to verify the validity of this approach.

Original language	English (US)
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	1998-2003
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363615
State	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	4/10/07 → 4/14/07

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2007.363615

Cite this

Locally computable navigation functions for sphere worlds. / Lionis, Grigoris; Papageorgiou, Xanthi; Kyriakopoulos, Kostas J.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 1998-2003 4209379 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Lionis, G, Papageorgiou, X & Kyriakopoulos, KJ 2007, Locally computable navigation functions for sphere worlds. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209379, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1998-2003, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.363615

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Locally computable navigation functions for sphere worlds

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