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Robot Motion Planning in Dynamic, Uncertain Environments

Du Toit, Noel E. and Burdick, Joel W. (2012) Robot Motion Planning in Dynamic, Uncertain Environments. IEEE Transactions on Robotics, 28 (1). pp. 101-115. ISSN 1552-3098.

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This paper presents a strategy for planning robot motions in dynamic, uncertain environments (DUEs). Successful and efficient robot operation in such environments requires reasoning about the future evolution and uncertainties of the states of the moving agents and obstacles. A novel procedure to account for future information gathering (and the quality of that information) in the planning process is presented. To approximately solve the stochastic dynamic programming problem that is associated with DUE planning, we present a partially closed-loop receding horizon control algorithm whose solution integrates prediction, estimation, and planning while also accounting for chance constraints that arise from the uncertain locations of the robot and obstacles. Simulation results in simple static and dynamic scenarios illustrate the benefit of the algorithm over classical approaches. The approach is also applied to more complicated scenarios, including agents with complex, multimodal behaviors, basic robot-agent interaction, and agent information gathering.

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Additional Information:© 2012 IEEE. Manuscript received December 21, 2010; revised May 23, 2011; accepted August 22, 2011. Date of publication September 12, 2011; date of current version February 9, 2012. This paper was recommended for publication by Associate Editor S. Carpin and Editor J.-P. Laumond upon evaluation of the reviewers’ comments.
Subject Keywords:Anticipated measurements; dynamic; information gathering; interaction; motion planning; partially closed-loop; receding horizon control (RHC); uncertain
Issue or Number:1
Record Number:CaltechAUTHORS:20120319-130139676
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Official Citation:Du Toit, N.E.; Burdick, J.W.; , "Robot Motion Planning in Dynamic, Uncertain Environments," Robotics, IEEE Transactions on , vol.28, no.1, pp.101-115, Feb. 2012 doi: 10.1109/TRO.2011.2166435 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29771
Deposited By: Tony Diaz
Deposited On:20 Mar 2012 21:32
Last Modified:03 Oct 2019 03:44

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