Balancing Actuation and Computing Energy in Motion Planning
Soumya Sudhakar,Sertac Karaman,Vivienne Sze,Soumya Sudhakar,Sertac Karaman,Vivienne Sze
We study a novel class of motion planning problems, inspired by emerging low-energy robotic vehicles, such as insect-size flyers, chip-size satellites, and high-endurance autonomous blimps, for which the energy consumed by computing hardware during planning a path can be as large as the energy consumed by actuation hardware during the execution of the same path. We propose a new algorithm, called ...
