Planning with the STAR(s)

Konstantinos Karydis, David Zarrouk, Ioannis Poulakakis, Ronald S. Fearing, Herbert G. Tanner

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

21 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3033-3038
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - 31 Oct 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 14 Sep 201418 Sep 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/TerritoryUnited States
CityChicago
Period14/09/1418/09/14

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