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Sensor based planning for a planar rod robot

Choset, Howie and Burdick, Joel (1996) Sensor based planning for a planar rod robot. In: Proceedings of 1996 IEEE International Conference on Robotics and Automation. Vol.4. IEEE , Piscataway, NJ, pp. 3584-3591. ISBN 0-7803-2988-0.

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Sensor based planning for rod-shaped robots is necessary for the realistic deployment of noncircular symmetric robots into unknown environments. To this end, the rod hierarchical generalized Voronoi graph (rod-HGVG), introduced in this paper, is a roadmap for rod-like robots. A key feature of this roadmap is that it can be incrementally constructed using distance (range) information. This planning paradigm is an extension of previous work on sensor based planning for point robots.

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Additional Information:© 1996 IEEE. The authors gratefully acknowledge the support of the Office of Naval Research, Grant # N00014-93-1-0782. The authors profusely thank Dr. Andrew Lewis for his consistent help on our research. We also benefited greatly from conversations with Dr. Richard Murray, Luis Goncalves, William Law, and Scott Kelley.
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Office of Naval Research (ONR)N00014-93-1-0782
Record Number:CaltechAUTHORS:20190612-150737171
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Official Citation:H. Choset and J. Burdick, "Sensor based planning for a planar rod robot," Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA, 1996, pp. 3584-3591 vol.4. doi: 10.1109/ROBOT.1996.509259
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96345
Deposited By: Tony Diaz
Deposited On:13 Jun 2019 16:33
Last Modified:16 Nov 2021 17:20

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