Motion Planning for Collision-resilient Mobile Robots in Obstacle-cluttered Unknown Environments with Risk Reward Trade-offs
Zhouyu Lu,Zhichao Liu,Gustavo J. Correa,Konstantinos Karydis,Zhouyu Lu,Zhichao Liu,Gustavo J. Correa,Konstantinos Karydis
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided altogether. To this end, we introduce a new sampling-based online planning algorithm that can explicitly handle the risk of colliding with the environment and can swit...
