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Sensor based planning and nonsmooth analysis

Choset, Howie and Burdick, Joel (1994) Sensor based planning and nonsmooth analysis. In: Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Vol.4. IEEE , Piscataway, NJ, pp. 3034-3041. ISBN 0-8186-5330-2.

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This paper describes some initial steps towards sensor based path planning in an unknown static environment. The method is a based on a sensor-based incremental construction of a one-dimensional retract of the free space. In this paper we introduce a retract termed the generalized Voronoi graph, and also analyze the roadmap of Canny and Lin's opportunistic path planner (1990, 1993). The bulk of this paper is devoted to the application of nonsmooth analysis to the Euclidean distance function. We show that the distance function is in fact nonsmooth at the points which are required to construct the plan. This analysis leads directly to the incorporation of simple and realistic sensor models into the planning scheme.

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Additional Information:© 1994 IEEE. The authors grateful acknowledge the support of the Office of Naval Research, Grant # N00014-93-1-0782. The authors would like to thank Jim Ostrowski, Andrew Lewis, Elon Rimon and Andrew Conley for their discussions. In particular, we would like to thank Jim Ostrowski for supplying a proof for Prop. 5.3.
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Office of Naval Research (ONR)N00014-93-1-0782
Record Number:CaltechAUTHORS:20190612-105538995
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Official Citation:H. Choset and J. Burdick, "Sensor based planning and nonsmooth analysis," Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, USA, 1994, pp. 3034-3041 vol.4. doi: 10.1109/ROBOT.1994.351103
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96322
Deposited By: Tony Diaz
Deposited On:12 Jun 2019 18:03
Last Modified:03 Oct 2019 21:21

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