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Optimal Motion Planning for Multi-Modal Hybrid Locomotion

Suh, H. J. Terry and Xiong, Xiaobin and Singletary, Andrew and Ames, Aaron D. and Burdick, Joel W. (2019) Optimal Motion Planning for Multi-Modal Hybrid Locomotion. . (Unpublished)

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Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, can enable robots to carry out complex tasks in diverse environments. This paper presents a novel method of combining graph search and trajectory optimization for planning multi-modal locomotion trajectories. We also introduce methods that allow the method to work tractably in higher dimensional state spaces. Through the examples of a hybrid double-integrator, amphibious robot, and the flying-driving drone, we show that our planner tractably gives full-state trajectories that are probabilistically optimal and dynamically feasible.

Item Type:Report or Paper (Discussion Paper)
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URLURL TypeDescription Paper
Ames, Aaron D.0000-0003-0848-3177
Record Number:CaltechAUTHORS:20200109-095513041
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:100588
Deposited By: Tony Diaz
Deposited On:09 Jan 2020 18:00
Last Modified:09 Jan 2020 18:00

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