, 4: PMP planning without uncertainty among moving obstacles
, PMP planning with uncertainty among moving obstacles. Bibliography [ABD + 98 Robotics: The algorithmic perspective, chapter OBPRM: An obstacle-based PRM for 3D workspaces, pp.155-168, 1998.
, A practical exact planning algorithm for polygonal objects amidst polygonal obstacles, IEEE Int
URL : https://hal.archives-ouvertes.fr/inria-00075664
, Planning robust motion strategies for a mobile robot, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp.1312-1318, 1994.
DOI : 10.1109/ROBOT.1994.351305
, On the influence of sensor capacities and environment dynamics onto collision-free motion plans, IEEE/RSJ International Conference on Intelligent Robots and System
DOI : 10.1109/IRDS.2002.1041626
, Conference on Intelligent Robots and Systems, 2002.
, Time optimal control of robot manipulators, Int. Jour. Robotics Research, vol.4, issue.3, 1985.
, Time-Optimal Control of Robotic Manipulators Along Specified Paths, The International Journal of Robotics Research, vol.1, issue.3, pp.3-17, 1985.
DOI : 10.1177/027836498500400301
, Motion planning with uncertainty: the information space approach, Proceedings of 1995 IEEE International Conference on Robotics and Automation, 1995.
DOI : 10.1109/ROBOT.1995.525465
, The vector field histogram-fast obstacle avoidance for mobile robots, IEEE Transactions on Robotics and Automation, vol.7, issue.3, pp.278-288, 1991.
DOI : 10.1109/70.88137
, High-speed navigation using the global dynamic 138 Bibliography window approach Path planning using lazy prm, Proceedings of International Conference on Robotics and Automation Int. Conf. on Robotics and Automation, pp.521-528, 1999.
, Real time replanning in high-dimensional configuration spaces using sets of homotopic paths, Proc. IEEE Intl. Conf. on Robotics and Automation, 2000.
, Nonholonomic multibody mobile robots: Controllability and motion planning in the presence of obstacles, Algorithmica, vol.12, issue.2, pp.121-155, 1993.
DOI : 10.1007/BF01891837
, Numerical potential field techniques for robot path planning, IEEE Transactions on Systems, Man, and Cybernetics, vol.22, issue.2, pp.224-241, 1992.
DOI : 10.1109/21.148426
, The gaussian sampling strategy for probabilistic roadmap planners, IEEE Int. Conf. on Robotics and Automation, pp.1018-1023, 1999.
, Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
DOI : 10.1109/IROS.2006.281806
URL : https://hal.archives-ouvertes.fr/inria-00086286
, Toward urban driverless vehicles. to appear in Int, Journal of Vehicle Autonomous Systems, 2007.
DOI : 10.1504/ijvas.2008.016486
URL : https://hal.inria.fr/inria-00115112/file/ijvas_2006_10_02_0619.pdf
, Cybercar cooperation for safe intersections, IEEE Int. Conf. on Intelligent Transportation Systems, 2006.
, Symbolic error analysis and robot planning, Int. Journal of Robotics Research, vol.1, 1982.
, Differential Geometric Control Theory, chapter Asymptotic Stability and Feedback Stabilization, Birkkauser, pp.181-191, 1983.
, A numerical technique for planning motion strategies of a mobile robot in presence of uncertainty, Proceedings of 1995 IEEE International Conference on Robotics and Automation, pp.1327-1332, 1995.
DOI : 10.1109/ROBOT.1995.525463
, Real-time randomized path planning for robot navigation, Proceedings of the IEEE, 2002.
, A new algebraic method for robot moitn planning and real geometry
, The complexity of Robot Motion Planning, 1988.
, Structural properties and classification of kinematic and dynamic models of wheeled mobile robots
, Exponential stabilization of mobile robots with nonholonomic constraints, [1991] Proceedings of the 30th IEEE Conference on Decision and Control, 1991.
DOI : 10.1109/CDC.1991.261398
, New lower bound techniques for robot motion planning problems, 28th Annual Symposium on Foundations of Computer Science (sfcs 1987), pp.49-60, 1987.
DOI : 10.1109/SFCS.1987.42
, Planning, Geometry, and Complexity of Robot Motion, chapter Retraction: A new approach to motion planning, pp.193-213, 1987.
, On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents, pp.497-517, 1957.
, Kinodynamic motion planning, Journal of the ACM, vol.40, issue.5, pp.1048-1066, 1993.
DOI : 10.1145/174147.174150
, Using occupancy grids for mobile robot perception and navigation, Computer, vol.22, issue.6, pp.46-57, 1989.
DOI : 10.1109/2.30720
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.218.8152
, On multiple moving objects, pp.477-521, 1987.
, Inevitable collision states -a step towards safer robots?, Advanced Robotics, vol.18, issue.10, pp.1001-1024, 2004.
, Robust obstacle avoidance in unknown and cramped environments, IEE International Conference on Robotics and Automation, pp.2412-2417, 1994.
, The dynamic window approach to collision avoidance, IEEE Robotics & Automation Magazine, vol.4, issue.1, 1995.
DOI : 10.1109/100.580977
, Controlling synchro-drive robots with the dynamic window approach to collision avoidance, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96, 1996.
DOI : 10.1109/IROS.1996.568982
, The dynamic window approach to collision avoidance, IEEE Robotics & Automation Magazine, vol.4, issue.1, 1997.
DOI : 10.1109/100.580977
, On line reactive planning for a non-holonomic mobile in a dynamic world, IEEE Int. Conf. on Robotics and Automation, pp.432-437, 1991.
, Kinodynamic planning in a structured and time-varying 2d workspace, Proceedings IEEE International Conference on Robotics and Automation, 1992.
, Path planning with uncertainty for carlike vehicles, Inst. Nat. de Recherche en Informatique et en Automatique, 1998.
, Trajectory planning in a dynamic workspace: a state-time approach, Advanced Robotics, vol.13, issue.1, pp.75-94, 1999.
, Robust Hybrid Control for Autonomous Vehicle Motion Planning
, A hierarchical strategy for path planning among moving obstacles (mobile robot), IEEE Transactions on Robotics and Automation, vol.5, issue.1, pp.61-69, 1989.
DOI : 10.1109/70.88018
, Motion Planning in Dynamic Environments Using Velocity Obstacles, The International Journal of Robotics Research, vol.17, issue.7, pp.760-772, 1998.
DOI : 10.1177/027836499801700706
, Movement Problems for 2-Dimensional Linkages, SIAM Journal on Computing, vol.13, issue.3, pp.610-629, 1984.
DOI : 10.1137/0213038
, Robotics: The algorithmic perspective, chapter On finding narrow passages with probabilistic roadmap planners, pp.141-154, 1998.
, Kinodynamic motion planning amidst moving obstacles, IEEE International Conference on Robotics and Automation, 2000.
, Randomized Kinodynamic Motion Planning with Moving Obstacles, The International Journal of Robotics Research, vol.21, issue.3, pp.233-255, 2002.
DOI : 10.1177/027836402320556421
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.118.9585
, Dynamic scaling of manipulator trajectories, American Control Conference, pp.752-756, 1983.
, Reducing multiple object motion planning to graph searching, SIAM J. Comput, vol.15, issue.3, pp.768-785, 1986.
, Détection de collision et action automatique pour transport routier, 2003.
, Méthodes Probabilistes pour la Planification Réactive de Mouvements, 2005.
, Planning smooth paths for mobile robots, Proceedings, 1989 International Conference on Robotics and Automation
DOI : 10.1109/ROBOT.1989.99959
, On the complexity of reachability and motion planning questions, 1st ACM Symposium on Computational Geometry, pp.62-66, 1985.
, A PRM-based motion planner for dynamically changing environments, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2004.
DOI : 10.1109/IROS.2004.1389625
, Real-Time Obstacle Avoidance for Manipulators and Mobile Robots, The International Journal of Robotics Research, vol.5, issue.1, pp.90-98, 1986.
DOI : 10.1177/027836498600500106
, Sensor-based motion control for mobile robots, 1996.
, Dynamic path modification for car-like nonholonomic mobile robots, Int. Conf. on Robotics and Automation, 1997.
, Improved fast replanning for robot navigation in unknown terrain, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002.
DOI : 10.1109/ROBOT.2002.1013481
, The lane-curvature method for local obstacle avoidance, Proceedings of the IEEE, 1998.
, Probabilistic roadmaps for path planning in high-dimensional configuration spaces, IEEE Transactions on Robotics and Automation, vol.12, issue.4, pp.566-580, 1996.
DOI : 10.1109/70.508439
, Toward Efficient Trajectory Planning: The Path-Velocity Decomposition, The International Journal of Robotics Research, vol.5, issue.3, pp.72-89, 1986.
DOI : 10.1177/027836498600500304
, Robot motion planning, 1991.
, Feasible trajectories for mobile robots with kinematic and environment constraints, Int. Conf. in Intelligent Autonomous Systems, pp.346-354, 1986.
, Planning Algorithms, 2006.
, Reactive trajectory deformation for nonholonomic systems: application to mobile robots, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002.
DOI : 10.1109/ROBOT.2002.1013703
, Kinodynamic motion planning: connecting exploration trees using trajectory optimization Methods, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004.
DOI : 10.1109/ROBOT.2004.1308894
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.128.4894
, Anytime dynamic a*: An anytime, replanning algorithm, Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2005.
, Randomized kinodynamic planning, International Journal of Robotics Research, vol.20, issue.5, pp.378-400, 2001.
, Randomized Kinodynamic Planning, The International Journal of Robotics Research, vol.20, issue.5, pp.378-400, 2001.
DOI : 10.1177/02783640122067453
, Landmark-Based Robot Navigation, Algorithmica, vol.11, issue.4, 1992.
DOI : 10.1007/BF01190850
, Automatic Synthesis of Fine-Motion Strategies for Robots, The International Journal of Robotics Research, vol.24, issue.9, pp.3-24, 1984.
DOI : 10.1177/027836498400300101
, Automatic path planning of manipulator transfer movements, pp.681-698, 1981.
, On dynamic motion planning problems, Proceedings. 1991 IEEE International Conference on Robotics and Automation
DOI : 10.1109/ROBOT.1991.131735
, Autonomous Navigation in Dynamic Environments: Models and Algorithms, chapter Autonomous Navigation in Dynamic Environments: Models and Algorithms, 2006.
, Planning a purely translational motion for a convex object in two-dimensional space using generalized Voronoi diagrams, Discrete & Computational Geometry, vol.36, issue.1, 1985.
DOI : 10.1007/BF02187867
, Towards real-time global motion planning in a dynamic environment using the NLVO concept, IEEE/RSJ International Conference on Intelligent Robots and System, 2002.
DOI : 10.1109/IRDS.2002.1041458
, Nearness diagram navigation (nd): A new real time collision avoidance approach for holonomic and no holonomic mobile robots, Proceedings of the IEEE, 2000.
, The ego-dynamic space (eds): Dynamics of the vehicle, Proceedings of the Conference on Intelligent Robots and Systems, 2002.
, Global nearness diagram navigation (GND), Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001.
DOI : 10.1109/ROBOT.2001.932526
, Reactive navigation for nonholonomic robots using the ego kinematic space, Proceedings IEEE International Conference on Robotics and Automation, 2002.
, Sensor fusion in certainty grids for mobile robots, AI Magazine, vol.9, issue.2, pp.61-74, 1988.
, Feedback control of nonholonomic mobile robots, 5th Summer School on Image and Robotics, 2004.
, Shakey the robot. Technical note 323, 1984.
, Motion planning with inertial constraints, Algorithmica, vol.39, issue.1-4, pp.431-475, 1987.
DOI : 10.1007/BF01840370
, Motion planning in dynamic environments using the velocity space, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.997-1002, 2005.
DOI : 10.1109/IROS.2005.1545110
, The probabilistic path planner: A general approach to robot motion planning, Methods and Models in Automation and Robotics, pp.909-916, 1996.
, A ???retraction??? method for planning the motion of a disc, Journal of Algorithms, vol.6, issue.1, pp.104-115, 1982.
DOI : 10.1016/0196-6774(85)90021-5
, Automated public vehicles : A first step towards the automated highway, 4th World Congress on Intelligent Transport Systems, 1997.
, Reactive planning under uncertainty among moving obstacles, In Int. Symp. on Robotics, 2005.
, Safe motion planning in dynamic environments
, Spacecraft rendez-vous and docking with real-time, randomized optimization, AIAA Guidance, Navigation , and Control, 2003.
, A new solution for path planning in partially known or unknown environment for nonholonomic mobile robots, Robotics and Autonomous Systems, vol.34, issue.2-3, pp.145-152, 2001.
DOI : 10.1016/S0921-8890(00)00118-4
, Motion planning through symbols and lattices, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.3914-3919, 2004.
DOI : 10.1109/ROBOT.2004.1308878
, Pilot performance at collision avoidance during closely spaced parallel approaches, Air Traffic Control Quartely, vol.7, issue.1, pp.47-75, 1999.
, Towards real-time execution of motion tasks
DOI : 10.1007/BFb0036143
, Elastic bands: connecting path planning and control, [1993] Proceedings IEEE International Conference on Robotics and Automation, pp.802-807, 1993.
DOI : 10.1109/ROBOT.1993.291936
, Multipoint relaying technique for flooding broadcast messages in mobile wireless networks, HICSS: Hawai Int. Conference on System Sciences, 2002.
, Real-time modication of collisionfree paths, 1994.
, Complexity of the mover's problem and generalizations, 20th IEEE Symposium on the Foundations of Computer Science, pp.421-427, 1979.
, Exact robot navigation using cost functions: the case of distinct spherical boundaries in E/sup n/, Proceedings. 1988 IEEE International Conference on Robotics and Automation, pp.1791-1796, 1988.
DOI : 10.1109/ROBOT.1988.12325
, Motion planning in the presence of moving obstacles
, Optimal paths for a car that goes both forwards and backwards, Pacific Journal of Mathematics, vol.145, issue.2, pp.367-393, 1990.
DOI : 10.2140/pjm.1990.145.367
, The complexity of the two dimensional curvatureconstrained shortest-path problem, pp.49-57, 1998.
, Time-varying feedback stabilization of car-like wheeled mobile robots, Int. Journal of Robotic Research, vol.12, issue.1, pp.55-64, 1993.
, Vision-based control for car platooning using homography decomposition, IEEE International Conference on Robotics and Automation, pp.2173-2178, 2005.
, On the optimal control of robotic manipulators with actuator and end-effector constraints, Proceedings. 1985 IEEE International Conference on Robotics and Automation, pp.614-620, 1985.
DOI : 10.1109/ROBOT.1985.1087305
, Global time optimal motions of robotic manipulators in the presence of obstacles, Proceedings. 1988 IEEE International Conference on Robotics and Automation, 1988.
DOI : 10.1109/ROBOT.1988.12076
, Robot Path Planning with Obstacles, Actuator, Gripper, and Payload Constraints, The International Journal of Robotics Research, vol.8, issue.6, pp.3-18, 1989.
DOI : 10.1177/027836498900800601
, Planning continuous-curvature paths for carlike robots, Proceedings of the IEEE-RSJ International Conference on Intelligent Robots and Systems, pp.1304-1311, 1996.
DOI : 10.1109/iros.1996.568985
URL : https://hal.archives-ouvertes.fr/inria-00000022
, Planning of minimumtime trajectories for robot arms, IEEE Int. Conf. On Robotics and Automation, 1985.
, The curvature velocity method for local obstacle avoidance
, Visibility-based probabilistic roadmaps for motion planning, Advanced Robotics, vol.14, issue.6, 2000.
DOI : 10.1163/156855300741960
, Minimum-time control of robotic manipulators with geometric path constraints, IEEE Transactions on Automatic Control, vol.30, issue.6, pp.531-541, 1985.
DOI : 10.1109/TAC.1985.1104009
, Motion Planning for Carlike Robots Using a Probabilistic Learning Approach, The International Journal of Robotics Research, vol.16, issue.2, pp.119-143, 1997.
DOI : 10.1177/027836499701600201
, On the ???piano movers??? problem. II. General techniques for computing topological properties of real algebraic manifolds, Advances in Applied Mathematics, vol.4, issue.3, pp.298-351, 1983.
DOI : 10.1016/0196-8858(83)90014-3
, Optimal and efficient path planning for partially-known environments, Proceedings of the IEEE International Conference on Robotics and Automation, pp.3310-3317, 1994.
, The focussed d* algorithm for real-time replanning, Proceedings of the International Joint Conference on Artificial Intelligence, pp.1652-1659, 1995.
, Constrained d*, Proceedings of the Eighteenth National Conference on Artificial Intelligence, 2002.
, Synthesis of manipulator control programs from tasklevel specifications, 1976.
, Dependable perception for robots, In Int. Advanced Robotics Programme IEEE, 2001.
URL : https://hal.archives-ouvertes.fr/inria-00615892
, Planning the motions of a mobile robot in a sensory uncertainty field, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.16, issue.10, pp.1002-1017, 1994.
DOI : 10.1109/34.329009
, Robotic mapping: A survey, Exploring Artificial Intelligence in the New Millenium, 2002.
, Iterated forecast and planning algorithm to steer and drive a mobile robot in the presence pf multiple moving objects, IEE/RSJ In t. Conf. on Intelligent Robot and Systems, pp.33-38, 1995.
, Computing Danger Zones for Provably Safe Closely Spaced Parallel Approaches, Journal of Guidance, Control, and Dynamics, vol.26, issue.3, pp.434-443, 2003.
DOI : 10.2514/2.5081
, VFH+: reliable obstacle avoidance for fast mobile robots, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), pp.1572-1577, 1998.
DOI : 10.1109/ROBOT.1998.677362
, VFH*: Local obstacle avoidance with look-ahead verification, IEEE International Conference on Robotics and Automation, pp.2505-2511, 2000.
, Anytime path planning and replanning in dynamic environments, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006.
DOI : 10.1109/ROBOT.2006.1642056
, Motion prediction for moving objects: a statistical approach, Proc. of the IEEE Int. Conf. on Robotics and Automation, pp.3931-3936, 2004.
, MAPRM: a probabilistic roadmap planner with sampling on the medial axis of the free space, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 1999.
DOI : 10.1109/ROBOT.1999.772448
, Reflexive collision avoidance: a generalized approach, [1993] Proceedings IEEE International Conference on Robotics and Automation, pp.31-36, 1993.
DOI : 10.1109/ROBOT.1993.291925
, Poppet: A Robust Road Boundary Detection and Tracking Algorithm, Procedings of the British Machine Vision Conference 1999, 1999.
DOI : 10.5244/C.13.35
, Online simultaneous localization and mapping with detection and tracking of moving objects: Theory and results from a ground vehicle in crowded urban areas, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.
, En réponse aux problèmes de congestion, pollution et sûreté, soulevés par l'utilisation croissante des voitures en milieu urbain, de nouveaux modes de transport ont été proposés. Ils s'appuient sur l'utilisation de véhicules individuels circulant sur site urbain (projet Praxitèle en France, ICVS de Honda au Japon) ou sur site dédié (Parkshuttle aux Pays-Bas Dans le long terme, il est envisagé d'équiper ce type de véhicules afin de les rendre complètement autonomes. Cependant, le développement de voitures complètement autonomes ne peut être réalisé qu'en prenant en compte la nature particulière de l'environnement: nous sommes confrontés ici à des environnements peuplés d'obstacles mobiles