kinodynamic/physics-based motion planning
Kinodynamic Planning by Interior-Exterior Cell Exploration (KPIECE)
A kinodynamic motion planner specifically designed for systems with complex dynamics, where physics-based simulation is necessary.
To perform motion planning for complex realistic systems, accurate modeling of these systems is necessary - a model of their behaviour under different inputs. Typically, such models are systems of equations of motion. However, such equations do not account for friction, gravity or contacts with other bodies. To account for these, which is needed for real robots, physics-based simulation for rigid body dynamics can be used instead.
Kinodynamic Motion Planning for High-dimensional Physical Systems
.
2008. Kinodynamic Motion Planning for High-dimensional Physical Systems. Department of Computer Science.
Reconfiguration for modular robots using kinodynamic motion planning
.
2008. Reconfiguration for modular robots using kinodynamic motion planning. ASME -- Dynamic Systems and Control.
Kinodynamic Motion Planning with Hardware Demonstrations
.
2008. Kinodynamic Motion Planning with Hardware Demonstrations. IEEE/RSJ International Conference on Intelligent Robots and Systems. :1661--1666.
