167 research outputs found
Revisiting the Minimum Constraint Removal Problem in Mobile Robotics
The minimum constraint removal problem seeks to find the minimum number of
constraints, i.e., obstacles, that need to be removed to connect a start to a
goal location with a collision-free path. This problem is NP-hard and has been
studied in robotics, wireless sensing, and computational geometry. This work
contributes to the existing literature by presenting and discussing two
results. The first result shows that the minimum constraint removal is NP-hard
for simply connected obstacles where each obstacle intersects a constant number
of other obstacles. The second result demonstrates that for simply
connected obstacles in the plane, instances of the minimum constraint removal
problem with minimum removable obstacles lower than can be solved in
polynomial time. This result is also empirically validated using several
instances of randomly sampled axis-parallel rectangles.Comment: Accepted for presentation at the 18th international conference on
Intelligent Autonomous System 202
Probabilistic Collision Constraint for Motion Planning in Dynamic Environments
Online generation of collision free trajectories is of prime importance for
autonomous navigation. Dynamic environments, robot motion and sensing
uncertainties adds further challenges to collision avoidance systems. This
paper presents an approach for collision avoidance in dynamic environments,
incorporating robot and obstacle state uncertainties. We derive a tight upper
bound for collision probability between robot and obstacle and formulate it as
a motion planning constraint which is solvable in real time. The proposed
approach is tested in simulation considering mobile robots as well as
quadrotors to demonstrate that successful collision avoidance is achieved in
real time application. We also provide a comparison of our approach with
several state-of-the-art methods.Comment: Accepted for presentation at the 16th International Conference on
Intelligent Autonomous Systems (IAS-16
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