A Caltech Library Service

Trajectory planning using reachable-state density functions

Mason, Richard and Burdick, Joel W. (2002) Trajectory planning using reachable-state density functions. In: 2002 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 273-280. ISBN 0-7803-7272-7.

PDF - Published Version
See Usage Policy.


Use this Persistent URL to link to this item:


Presents a trajectory planning algorithm for mobile robots which may be subject to kinodynamic constraints. Using computational methods from noncommutative harmonic analysis, the algorithm efficiently constructs an approximation to the robot's reachable-state density function. Based on a multiscale approach, the density function is then used to plan a path. One variation of the algorithm exhibits time complexity that is logarithmic in the number of steps. Simulations illustrate the method.

Item Type:Book Section
Related URLs:
URLURL TypeDescription DOIArticle
Additional Information:© 2002 IEEE. Date of Current Version: 07 August 2002.
Record Number:CaltechAUTHORS:20111026-140659451
Persistent URL:
Official Citation:Mason, R.; Burdick, J.W.; , "Trajectory planning using reachable-state density functions," Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on , vol.1, no., pp. 273- 280 vol.1, 2002 doi: 10.1109/ROBOT.2002.1013373 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:27459
Deposited By: Tony Diaz
Deposited On:26 Oct 2011 21:17
Last Modified:09 Nov 2021 16:48

Repository Staff Only: item control page