Coupled trajectory planning with kinodynamic constraints and environmental uncertainty for multiple agents inside a 3D environment

• Grant number: 13/02746-0
• Support Opportunities: Scholarships in Brazil - Doctorate
• Effective date (Start): June 01, 2013
• Effective date (End): February 29, 2016
• Field of knowledge: Physical Sciences and Mathematics - Computer Science
• Principal Investigator: Roseli Aparecida Francelin Romero
• Grantee: Marcelo Oliveira da Silva
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This work will address the task of motion planning in dynamic environments, which is described as to find a feasible path between the current and a final posture of an agent, also called a target or goal posture.It is intended to use planning techniques that consider not only position, but also velocity and acceleration of the agent to be controlled, as well as obstacles, other agents, and even the target. These techniques will be applied to Unmanned Aerial Vehicle (UAV), Unmanned Ground Vehicle (UGV), Unmanned Surface Vehicle (USV) and Autonomous Underwater Vehicle(AUV).

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

SILVA, Marcelo Oliveira da. Modified potential fields applied to robot control inside three-dimentional environments. 2018. Doctoral Thesis - Universidade de São Paulo (USP). Instituto de Ciências Matemáticas e de Computação (ICMC/SB) São Carlos.