Author name cluster

Michaël Soulignac

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

4 papers

1 author row

IROS Conference 2011 Conference Paper

Deterministic Kinodynamic Planning with hardware demonstrations

François Gaillard
Michaël Soulignac
Cédric Dinont
Philippe Mathieu

DKP (Deterministic Kinodynamic Planning) is a bottom-up trajectory planner for robots with flatness properties. DKP builds an exploration tree of which the branches are spline trajectories. DKP employs an A*-like algorithm to select which branch of the tree to grow. The selected trajectories are then grown in a propagation process which respects the kinematic constraints, such as linear/angular speed limits or obstacle avoidance. In addition, DKP produces trajectories that are immediately executable by the robot. Various experiments are provided to show the ability of DKP to effectively handle complex environments with one or more robots.

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ICRA Conference 2009 Conference Paper

Time-minimal path planning in dynamic current fields

Michaël Soulignac
Patrick Taillibert
Michel Rueher

Numerous approaches have been proposed for path planning in dynamic current fields, for a fixed departure time. However, in many applications, the departure time is not necessarily known in advance, but can vary in a time window. In this context, the choice of a good departure time is a critical issue. That is why we introduce in this paper a new approach, called symbolic wavefront expansion, determining both the path and the departure time minimizing the travel time of the vehicle. The key idea of this approach is to propagate and compose functions instead of numerical values, with appropriate operators.

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ICRA Conference 2008 Conference Paper

Adapting the wavefront expansion in presence of strong currents

Michaël Soulignac
Patrick Taillibert
Michel Rueher

The wavefront expansion is commonly used for path planning tasks and appreciated for its efficiency. However, the existing extensions able to handle currents are subject to incorrectness and incompleteness issues when these currents become strong. That is, they may return physically infeasible paths or no path at all, even if a feasible path exists. This behavior endangers the robot, especially in a dynamic replanning context. That is why we propose a new extension called sliding wavefront expansion. This algorithm, combining an appropriate cost function and continuous optimization techniques, guarantees the existence of a path with an arbitrary precision.

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IROS Conference 2007 Conference Paper

Multiple path planning using wavefront collision

Michaël Soulignac
Patrick Taillibert

The concept of wavefront expansion was introduced in order to build a collision-free path between two points among obstacles, minimizing a criterion. In this paper, we propose a new concept, called wavefront collision, in order to do the same for all possible paths between n waypoints. It consists in expanding simultaneously one wavefront by waypoint, until they collide. Using this concept, all paths can be computed thanks to one multiple wavefront expansion instead of n - 1, hence dividing the computational effort by about 3. 5.

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