Closed Loop Motion Plans for Mobile Robots

We discuss a game theoretic approach to the design of closed loop feedback laws to solve sensor based motion planning problems for mobile robots. Our approach provides a framework for dealing with environmental uncertainty, and, by explicitly accounting for the sensor dynamics, a formal way of combining exploratory and goal directed motions. We focus on methods of devising optimal feedback laws, using finite dimensional parametrizations, under the worst case uncertainty for several illustrative examples.

Authors

• Joel M. Esposito
• Vijay Kumar 0001

Keywords

• Mobile robots
• Robot sensing systems
• Robot kinematics
• Uncertainty
• Game theory
• Feedback loop
• Path planning
• Orbital robotics
• Motion planning
• Mechanical engineering
• Planning Problem
• Game-theoretic Approach
• Left Hand
• Optimal Control
• Shortest Path
• Open Set
• Penalty Function
• Saddle Point
• Sensor Characteristics
• Sensor Model
• Open Loop
• Aggressive Strategies
• Graph Features
• Coordinate Vector
• Position Of The Robot
• Linear Law
• Set Of Laws
• Feedback Function
• Obstacle Location
• Value Of The Game
• Solution Of Game
• Dynamic Sensor
• Topological Space
• Variable Approach