TY - GEN
T1 - Planning with the STAR(s)
AU - Karydis, Konstantinos
AU - Zarrouk, David
AU - Poulakakis, Ioannis
AU - Fearing, Ronald S.
AU - Tanner, Herbert G.
N1 - Publisher Copyright: © 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - We present our findings on the first application of motion planning methodologies to the recently introduced Sprawl Tuned Autonomous Robot (STAR). The reported results provide a first glimpse on the capabilities of this novel, 3D-printed robot in performing autonomously non-trivial motion planning tasks in environments populated with obstacles. We employ methods from sampling-based motion planning under nonholonomic constraints, and implement in open loop the generated path on the physical robot for various environments of increasing complexity.
AB - We present our findings on the first application of motion planning methodologies to the recently introduced Sprawl Tuned Autonomous Robot (STAR). The reported results provide a first glimpse on the capabilities of this novel, 3D-printed robot in performing autonomously non-trivial motion planning tasks in environments populated with obstacles. We employ methods from sampling-based motion planning under nonholonomic constraints, and implement in open loop the generated path on the physical robot for various environments of increasing complexity.
UR - http://www.scopus.com/inward/record.url?scp=84911488871&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/IROS.2014.6942981
DO - https://doi.org/10.1109/IROS.2014.6942981
M3 - Conference contribution
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3033
EP - 3038
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -