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Elastic strips: A framework for integrated planning and execution

  • Chapter 8 Planning And Navigation
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Experimental Robotics VI

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

The execution of robotic tasks in dynamic, unstructured environments requires the generation of motion plans that respect global constraints imposed by the task while avoiding collisions with stationary, moving, and unforeseen obstacles. This paper presents the elastic strip framework, which addresses this problem by integrating global motion planning methods with a reactive motion execution approach. To maintain a collision-free trajectory, a given motion plan is incrementally modified to reflect changes in the environment. This modification can be performed without suspending task behavior. The elastic strip framework is computationally efficient and can be applied to robots with many degrees of freedom. The paper also presents experimental results obtained by the implementation of this framework on the the Stanford Mobile Manipulator.

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Authors and Affiliations

  1. Robotics Laboratory, Department of Computer Science, Stanford University, 94305, Stanford, California, USA

    Oliver Brock & Oussama Khatib

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  1. Oliver Brock
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  2. Oussama Khatib
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Correspondence to Oliver Brock or Oussama Khatib .

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© 2000 Springer-Verlag London Limited

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Brock, O., Khatib, O. (2000). Elastic strips: A framework for integrated planning and execution. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119411

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  • DOI: https://doi.org/10.1007/BFb0119411

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

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