Prema sigurnoj navigaciji vozila u dinamičkim urbanim scenarijima (2009)
Maček, Kristijan; University Of Zagreb, Faculty Of Electrical Engineering And Computing, Zagreb, Croatia; Kristijan.macek@fer.hr, Vasquez, Dizan; Institut National Polytechnique De Grenoble, Grenoble, France, Fraichard, Thierry; Institut National Polytechnique De, Siegwart, Ronald; Institute Of Robotics, ETH Zurich, Switzerland
Ovaj članak opisuje ciljno orijentirani dio navigacijske arhitekture za sigurnu navigaciju vozilima u dinamičkim urbanim sredinama. Sastoji se od dva važna modula, koji su hierarhijski povezani:...
Towards Safe Vehicle Navigation in Dynamic Urban Scenarios (2009)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research domain. Due to the difficulty of modeling the various factors that determine motion (e.g. internal state, perception) this is...
Towards Safe Vehicle Navigation in Dynamic Urban Scenarios (2009)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research domain. Due to the difficulty of modeling the various factors that determine motion (e.g. internal state, perception) this is...
Navigating Dynamic Environments with Trajectory Deformation (2009)
Fraichard, Thierry, Delsart, Vivien
Path deformation is a technique that was introduced to generate robot motion wherein a nominal path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen...
Navigating Dynamic Environments with Trajectory Deformation (2009)
Fraichard, Thierry, Delsart, Vivien
Path deformation is a technique that was introduced to generate robot motion wherein a nominal path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen...
Real-Time Trajectory Generation for Car-like Vehicles Navigating Dynamic Environments (2009)
Delsart, Vivien, Fraichard, Thierry, Martinez-Gomez, Luis
This paper presents Tiji, a trajectory generation scheme, i.e. an algorithm that computes a feasible trajectory between a start and a goal state, for a given robotic system. Tiji is geared towards...
Martinez-Gomez, Luis, Fraichard, Thierry
This paper presents ICS-Avoid, a collision avoidance scheme based upon the concept of Inevitable Collision State (ICS), i.e. a state for which, no matter what the future trajectory of the robotic...
Real-Time Trajectory Generation for Car-like Vehicles Navigating Dynamic Environments (2009)
Delsart, Vivien, Fraichard, Thierry, Martinez-Gomez, Luis
This paper presents Tiji, a trajectory generation scheme, i.e. an algorithm that computes a feasible trajectory between a start and a goal state, for a given robotic system. Tiji is geared towards...
Martinez-Gomez, Luis, Fraichard, Thierry
This paper presents ICS-Avoid, a collision avoidance scheme based upon the concept of Inevitable Collision State (ICS), i.e. a state for which, no matter what the future trajectory of the robotic...
Benchmarking Collision Avoidance Schemes for Dynamic Environments (2009)
Martinez-Gomez, Luis, Fraichard, Thierry
This paper evaluates and compare three state-of-the-art collision avoidance schemes designed to operate in dynamic environments. The first one is an extension of the popular Dynamic Window approach;...
Benchmarking Collision Avoidance Schemes for Dynamic Environments (2009)
Martinez-Gomez, Luis, Fraichard, Thierry
This paper evaluates and compare three state-of-the-art collision avoidance schemes designed to operate in dynamic environments. The first one is an extension of the popular Dynamic Window approach;...
Incremental Learning of Statistical Motion Patterns with Growing Hidden Markov Models (2009)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research domain. Due to the difficulty of modeling the various factors that determine motion (e.g. internal state, perception, etc.) this...
Incremental Learning of Statistical Motion Patterns with Growing Hidden Markov Models (2009)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research domain. Due to the difficulty of modeling the various factors that determine motion (e.g. internal state, perception, etc.) this...
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research domain. Due to the difficulty of modeling the various factors that determine motion (e.g. internal state, perception) this is...
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research domain. Due to the difficulty of modeling the various factors that determine motion (e.g. internal state, perception) this is...
Towards Safe Vehicle Navigation in Dynamic Urban Scenarios (2009)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Navigating Dynamic Environments with Trajectory Deformation (2009)
Fraichard, Thierry, Delsart, Vivien
Path deformation is a technique that was introduced to generate robot motion wherein a nominal path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen...
Incremental Learning of Statistical Motion Patterns with Growing Hidden Markov Models (2009)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research domain. Due to the difficulty of modeling the various factors that determine motion (e.g. internal state, perception, etc.) this...
Benchmarking Collision Avoidance Schemes for Dynamic Environments (2009)
Martinez-Gomez, Luis, Fraichard, Thierry
This paper evaluates and compare three state-of-the-art collision avoidance schemes designed to operate in dynamic environments. The first one is an extension of the popular Dynamic Window approach;...
Real-Time Trajectory Generation for Car-like Vehicles Navigating Dynamic Environments (2009)
Delsart, Vivien, Fraichard, Thierry, Martinez-Gomez, Luis
This paper presents Tiji, a trajectory generation scheme, i.e. an algorithm that computes a feasible trajectory between a start and a goal state, for a given robotic system. Tiji is geared towards...
Martinez-Gomez, Luis, Fraichard, Thierry
This paper presents ICS-Avoid, a collision avoidance scheme based upon the concept of Inevitable Collision State (ICS), i.e. a state for which, no matter what the future trajectory of the robotic...
Navigating Dynamic Environments with Trajectory Deformation (2009)
Fraichard, Thierry, Delsart, Vivien
Path deformation is a technique that was introduced to generate robot motion wherein a nominal path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen...
Incremental Learning of Statistical Motion Patterns with Growing Hidden Markov Models (2009)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research domain. Due to the difficulty of modeling the various factors that determine motion (e.g. internal state, perception, etc.) this...
Benchmarking Collision Avoidance Schemes for Dynamic Environments (2009)
Martinez-Gomez, Luis, Fraichard, Thierry
This paper evaluates and compare three state-of-the-art collision avoidance schemes designed to operate in dynamic environments. The first one is an extension of the popular Dynamic Window approach;...
Real-Time Trajectory Generation for Car-like Vehicles Navigating Dynamic Environments (2009)
Delsart, Vivien, Fraichard, Thierry, Martinez-Gomez, Luis
This paper presents Tiji, a trajectory generation scheme, i.e. an algorithm that computes a feasible trajectory between a start and a goal state, for a given robotic system. Tiji is geared towards...
Martinez-Gomez, Luis, Fraichard, Thierry
This paper presents ICS-Avoid, a collision avoidance scheme based upon the concept of Inevitable Collision State (ICS), i.e. a state for which, no matter what the future trajectory of the robotic...
Planification de mouvement pour mobile non-holonome en espace de travail dynamique (2008)
Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail...
Theme 3 | Interaction homme-machine, (2008)
Christian Laugier, Thierry Fraichard, Igor Paromtchik, Alexis Scheuer, Christian Laugier, Thierry Fraichard, ...
apport
Steps Towards Safe Navigation in Open and Dynamic Environments (2008)
Laugier, Christian, Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
Steps Towards Safe Navigation in Open and Dynamic Environments (2008)
Laugier, Christian, Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
Steps Towards Safe Navigation in Open and Dynamic Environments (2008)
Laugier, Christian, Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
Steps Towards Safe Navigation in Open and Dynamic Environments (2008)
Laugier, Christian, Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
Geometric and Bayesian Models for Safe Navigation in Dynamic Environments (2008)
Laugier, Christian, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficcult research problems located on the cutting edge of the state of the art....
Geometric and Bayesian Models for Safe Navigation in Dynamic Environments (2008)
Laugier, Christian, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficcult research problems located on the cutting edge of the state of the art....
Robust Navigation Using Markov Models (2008)
Burlet, Julien, Fraichard, Thierry, Aycard, Olivier
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Robust Navigation Using Markov Models (2008)
Burlet, Julien, Fraichard, Thierry, Aycard, Olivier
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Towards urban driverless vehicles (2008)
Benenson, Rodrigo, Petti, Stéphane, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Towards urban driverless vehicles (2008)
Benenson, Rodrigo, Petti, Stéphane, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Reactive Trajectory Deformation to Navigate Dynamic Environments (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
Reactive Trajectory Deformation to Navigate Dynamic Environments (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
Intentional Motion On-line Learning and Prediction (2008)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry
Predicting motion of humans, animals and other objects which move according to internal plans is a challenging problem. Most existing approaches operate in two stages: a) learning typical motion...
Intentional Motion On-line Learning and Prediction (2008)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry
Predicting motion of humans, animals and other objects which move according to internal plans is a challenging problem. Most existing approaches operate in two stages: a) learning typical motion...
Inevitable collision states - a step towards safer robots? (2008)
Fraichard, Thierry, Asama, Hajime
An inevitable collision state for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs....
Inevitable collision states - a step towards safer robots? (2008)
Fraichard, Thierry, Asama, Hajime
An inevitable collision state for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs....
An Architecture for Automated Driving in Urban Environments (2008)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
An Architecture for Automated Driving in Urban Environments (2008)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
Reactive Trajectory Deformation to Navigate Dynamic Environments (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
Reactive Trajectory Deformation to Navigate Dynamic Environments (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
Towards urban driverless vehicles (2008)
Benenson, Rodrigo, Petti, Stéphane, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Towards urban driverless vehicles (2008)
Benenson, Rodrigo, Petti, Stéphane, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Intentional Motion On-line Learning and Prediction (2008)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Aycard, Olivier, Laugier, Christian
Predicting motion of humans, animals and other objects which move according to internal plans is a challenging problem. Most existing approaches operate in two stages: a) learning typical motion...
Intentional Motion On-line Learning and Prediction (2008)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Aycard, Olivier, Laugier, Christian
Predicting motion of humans, animals and other objects which move according to internal plans is a challenging problem. Most existing approaches operate in two stages: a) learning typical motion...
Geometric and Bayesian Models for Safe Navigation in Dynamic Environments (2008)
Laugier, Christian, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficcult research problems located on the cutting edge of the state of the art....
Robust Navigation Using Markov Models (2008)
Burlet, Julien, Fraichard, Thierry, Aycard, Olivier
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Geometric and Bayesian Models for Safe Navigation in Dynamic Environments (2008)
Laugier, Christian, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficcult research problems located on the cutting edge of the state of the art....
Robust Navigation Using Markov Models (2008)
Burlet, Julien, Fraichard, Thierry, Aycard, Olivier
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Navigating Dynamic Environments Using Trajectory Deformation (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
An Efficient and Generic 2D Inevitable Collision State-Checker (2008)
Martinez-Gomez, Luis, Fraichard, Thierry
An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory of the system is, a collision eventually occurs. ICS can be used for both motion...
Navigating Dynamic Environments Using Trajectory Deformation (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
An Efficient and Generic 2D Inevitable Collision State-Checker (2008)
Martinez-Gomez, Luis, Fraichard, Thierry
An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory of the system is, a collision eventually occurs. ICS can be used for both motion...
The Bayesian Occupation Filter (2008)
Tay, Christopher, Mekhnacha, Kamel, Yguel, Manuel, Coue, Christophe, Pradalier, Cédric, Laugier, Christian, ...
Perception of and reasoning about dynamic environments is pertinent for mobile robotics and still constitutes one of the major challenges. To work in these environments, the mobile robot must...
Achievable safety of driverless ground vehicles (2008)
Benenson, Rodrigo, Fraichard, Thierry, Parent, Michel
Safety is an important issue of driverless car. Yet, most current approaches fail to ensure safety even in a fully informed situation. In this paper we discuss how the safety criteria apply when the...
The Bayesian Occupation Filter (2008)
Tay, Christopher, Mekhnacha, Kamel, Yguel, Manuel, Coue, Christophe, Pradalier, Cédric, Laugier, Christian, ...
Perception of and reasoning about dynamic environments is pertinent for mobile robotics and still constitutes one of the major challenges. To work in these environments, the mobile robot must...
Achievable safety of driverless ground vehicles (2008)
Benenson, Rodrigo, Fraichard, Thierry, Parent, Michel
Safety is an important issue of driverless car. Yet, most current approaches fail to ensure safety even in a fully informed situation. In this paper we discuss how the safety criteria apply when the...
Safe Vehicle Navigation in Dynamic Urban Environments: A Hierarchical Approach (2008)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Safe Vehicle Navigation in Dynamic Urban Environments: A Hierarchical Approach (2008)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Reactive Trajectory Deformation to Navigate Dynamic Environments (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
Reactive Trajectory Deformation to Navigate Dynamic Environments (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
Safe Vehicle Navigation in Dynamic Urban Scenarios (2008)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Safe Vehicle Navigation in Dynamic Urban Scenarios (2008)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Safe Vehicle Navigation in Dynamic Urban Environments: A Hierarchical Approach (2008)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Safe Vehicle Navigation in Dynamic Urban Scenarios (2008)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Reactive Trajectory Deformation to Navigate Dynamic Environments (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
The Bayesian Occupation Filter (2008)
Tay, Christopher, Mekhnacha, Kamel, Yguel, Manuel, Coue, Christophe, Pradalier, Cédric, Laugier, Christian, ...
Perception of and reasoning about dynamic environments is pertinent for mobile robotics and still constitutes one of the major challenges. To work in these environments, the mobile robot must...
Achievable safety of driverless ground vehicles (2008)
Benenson, Rodrigo, Fraichard, Thierry, Parent, Michel
Safety is an important issue of driverless car. Yet, most current approaches fail to ensure safety even in a fully informed situation. In this paper we discuss how the safety criteria apply when the...
Navigating Dynamic Environments Using Trajectory Deformation (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
An Efficient and Generic 2D Inevitable Collision State-Checker (2008)
Martinez-Gomez, Luis, Fraichard, Thierry
An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory of the system is, a collision eventually occurs. ICS can be used for both motion...
Reactive Trajectory Deformation to Navigate Dynamic Environments (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
Towards urban driverless vehicles (2008)
Benenson, Rodrigo, Petti, Stéphane, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Geometric and Bayesian Models for Safe Navigation in Dynamic Environments (2008)
Laugier, Christian, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficcult research problems located on the cutting edge of the state of the art....
Robust Navigation Using Markov Models (2008)
Burlet, Julien, Fraichard, Thierry, Aycard, Olivier
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Intentional Motion On-line Learning and Prediction (2008)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Aycard, Olivier, Laugier, Christian
Predicting motion of humans, animals and other objects which move according to internal plans is a challenging problem. Most existing approaches operate in two stages: a) learning typical motion...
An Architecture for Automated Driving in Urban Environments (2008)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
Safe Vehicle Navigation in Dynamic Urban Environments: A Hierarchical Approach (2008)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Safe Vehicle Navigation in Dynamic Urban Scenarios (2008)
Macek, Kristijan, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Siegwart, Roland
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a...
Reactive Trajectory Deformation to Navigate Dynamic Environments (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
The Bayesian Occupation Filter (2008)
Tay, Christopher, Mekhnacha, Kamel, Yguel, Manuel, Coue, Christophe, Pradalier, Cédric, Laugier, Christian, ...
Perception of and reasoning about dynamic environments is pertinent for mobile robotics and still constitutes one of the major challenges. To work in these environments, the mobile robot must...
Achievable safety of driverless ground vehicles (2008)
Benenson, Rodrigo, Fraichard, Thierry, Parent, Michel
Safety is an important issue of driverless car. Yet, most current approaches fail to ensure safety even in a fully informed situation. In this paper we discuss how the safety criteria apply when the...
Navigating Dynamic Environments Using Trajectory Deformation (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
An Efficient and Generic 2D Inevitable Collision State-Checker (2008)
Martinez-Gomez, Luis, Fraichard, Thierry
An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory of the system is, a collision eventually occurs. ICS can be used for both motion...
Reactive Trajectory Deformation to Navigate Dynamic Environments (2008)
Delsart, Vivien, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
Towards urban driverless vehicles (2008)
Benenson, Rodrigo, Petti, Stéphane, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Geometric and Bayesian Models for Safe Navigation in Dynamic Environments (2008)
Laugier, Christian, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficcult research problems located on the cutting edge of the state of the art....
Robust Navigation Using Markov Models (2008)
Burlet, Julien, Fraichard, Thierry, Aycard, Olivier
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Intentional Motion On-line Learning and Prediction (2008)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Aycard, Olivier, Laugier, Christian
Predicting motion of humans, animals and other objects which move according to internal plans is a challenging problem. Most existing approaches operate in two stages: a) learning typical motion...
An Architecture for Automated Driving in Urban Environments (2008)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
Th`eme 3--- Interaction homme-machine, images, donn'ees, connaissances (2007)
Thierry Fraichard, Thierry Fraichard, Projet Sharp
apport de recherche
Smooth Trajectory Planning for a Car-Like Vehicle in a Structured World (2007)
Th. Fraichard, C. Laugier, Thierry Fraichard, Christian Laugier
This report aims at studying the trajectory planning for a car-like vehicle ---i.e. a non-holonomic vehicle whose turning radius is lower bounded---in a static and structured world. As for the...
From Reeds and Shepp's to Continuous-Curvature Paths (2007)
Fraichard, Thierry, Scheuer, Alexis
This paper presents Continuous Curvature (CC) Steer, a steering method for car-like vehicles, i.e., an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths...
Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles (2007)
Benenson, Rodrigo, Petti, Stephane, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Cybercar: l'alternative à la voiture particulière (2007)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
From Reeds and Shepp's to Continuous-Curvature Paths (2007)
Fraichard, Thierry, Scheuer, Alexis
This paper presents Continuous Curvature (CC) Steer, a steering method for car-like vehicles, i.e., an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths...
Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles (2007)
Benenson, Rodrigo, Petti, Stephane, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Cybercar: l'alternative à la voiture particulière (2007)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
Using Bayesian Programming for Multi-Sensor Multi-Target Tracking in Automotive Applications (2007)
Coué, Christophe, Fraichard, Thierry, Bessière, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Multi-Target Tracking in Automotive Applications (2007)
Coué, Christophe, Fraichard, Thierry, Bessière, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
A Short Report about Motion Safety (2007)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
A Short Report about Motion Safety (2007)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
A Real-Time Autonomous Navigation Architecture (2007)
Chen, Gang, Fraichard, Thierry, Martinez-Gomez, Luis
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
A Real-Time Autonomous Navigation Architecture (2007)
Chen, Gang, Fraichard, Thierry, Martinez-Gomez, Luis
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
A Real-Time Autonomous Navigation Architecture (2007)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
A Real-Time Autonomous Navigation Architecture (2007)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
Cybercar: l'alternative à la voiture particulière (2007)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
Cybercar: l'alternative à la voiture particulière (2007)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
Cybercar cooperation for safe intersections (2007)
Bouraoui, Laurent, Petti, Stéphane, Laouiti, Anis, Fraichard, Thierry, Parent, Michel
Our work addresses the problem of motion autonomy of Cybercars across an urban intersection. In the context of a crossing, the motion generation together with its safety are critical issues. The...
Cybercar cooperation for safe intersections (2007)
Bouraoui, Laurent, Petti, Stéphane, Laouiti, Anis, Fraichard, Thierry, Parent, Michel
Our work addresses the problem of motion autonomy of Cybercars across an urban intersection. In the context of a crossing, the motion generation together with its safety are critical issues. The...
A Short Paper About Motion Safety (2007)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
An Inevitable Collision State-Checker for a Car-Like Vehicle (2007)
Parthasarathi, Rishikesh, Fraichard, Thierry
An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs. The ICS...
A Short Paper About Motion Safety (2007)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
An Inevitable Collision State-Checker for a Car-Like Vehicle (2007)
Parthasarathi, Rishikesh, Fraichard, Thierry
An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs. The ICS...
A Real-Time Navigation Architecture for Automated Vehicles in Urban Environments (2007)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
A Real-Time Navigation Architecture for Automated Vehicles in Urban Environments (2007)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
An Architecture for Automated Driving in Urban Environments (2007)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
An Architecture for Automated Driving in Urban Environments (2007)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
A Real-Time Autonomous Navigation Architecture (2007)
Chen, Gang, Fraichard, Thierry, Martinez-Gomez, Luis
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
A Real-Time Autonomous Navigation Architecture (2007)
Chen, Gang, Fraichard, Thierry, Martinez-Gomez, Luis
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
Steps Towards Safe Navigation in Open and Dynamic Environments (2007)
Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
Steps Towards Safe Navigation in Open and Dynamic Environments (2007)
Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
Incremental Learning of Statistical Motion Patterns with Growing Hidden Markov Models (2007)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research do- main. Due to the difficulty of modeling the various factors that determine motion (eg in- ternal state, perception, etc.)...
Incremental Learning of Statistical Motion Patterns with Growing Hidden Markov Models (2007)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research do- main. Due to the difficulty of modeling the various factors that determine motion (eg in- ternal state, perception, etc.)...
A Short Paper about Motion Safety (2007)
CONTACT INFORMATION Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their...
Incremental Learning of Statistical Motion Patterns with Growing Hidden Markov Models (2007)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research do- main. Due to the difficulty of modeling the various factors that determine motion (eg in- ternal state, perception, etc.)...
Steps Towards Safe Navigation in Open and Dynamic Environments (2007)
Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
A Real-Time Autonomous Navigation Architecture (2007)
Chen, Gang, Fraichard, Thierry, Martinez-Gomez, Luis
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
An Architecture for Automated Driving in Urban Environments (2007)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
A Real-Time Navigation Architecture for Automated Vehicles in Urban Environments (2007)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
An Inevitable Collision State-Checker for a Car-Like Vehicle (2007)
Parthasarathi, Rishikesh, Fraichard, Thierry
An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs. The ICS...
A Short Paper About Motion Safety (2007)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
Incremental Learning of Statistical Motion Patterns with Growing Hidden Markov Models (2007)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Modeling and predicting human and vehicle motion is an active research do- main. Due to the difficulty of modeling the various factors that determine motion (eg in- ternal state, perception, etc.)...
Steps Towards Safe Navigation in Open and Dynamic Environments (2007)
Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
A Real-Time Autonomous Navigation Architecture (2007)
Chen, Gang, Fraichard, Thierry, Martinez-Gomez, Luis
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
From Path to Trajectory Deformation (2007)
Kurniawati, Hanna, Fraichard, Thierry
Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles....
An Architecture for Automated Driving in Urban Environments (2007)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
A Real-Time Navigation Architecture for Automated Vehicles in Urban Environments (2007)
Chen, Gang, Fraichard, Thierry
This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known...
An Inevitable Collision State-Checker for a Car-Like Vehicle (2007)
Parthasarathi, Rishikesh, Fraichard, Thierry
An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs. The ICS...
A Short Paper About Motion Safety (2007)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
Cybercar cooperation for safe intersections (2006)
Bouraoui, Laurent, Petti, Stéphane, Laouiti, Anis, Fraichard, Thierry, Parent, Michel
Our work addresses the problem of motion autonomy of Cybercars across an urban intersection. In the context of a crossing, the motion generation together with its safety are critical issues. The...
Cybercar: l'alternative à la voiture particulière (2006)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles (2006)
Benenson, Rodrigo, Petti, Stéphane, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles (2006)
Benenson, Rodrigo, Petti, Stéphane, Parent, Michel, Fraichard, Thierry
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
A Short Report about Motion Safety (2006)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
A Short Report about Motion Safety (2006)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
A Short Report about Motion Safety (2006)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
A Short Report about Motion Safety (2006)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
A Short Report about Motion Safety (2006)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles (2006)
Benenson, Rodrigo, Petti, Stéphane, Parent, Michel, Fraichard, Thierry
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
A Novel Self Organizing Network to Perform Fast Moving Object Extraction from Video Streams (2006)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry
Image segmentation is a critical task in computer vision. In the context of motion detection, a very popular segmentation approach is background substraction which consists in classifying the pixels...
A Novel Self Organizing Network to Perform Fast Moving Object Extraction from Video Streams (2006)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry
Image segmentation is a critical task in computer vision. In the context of motion detection, a very popular segmentation approach is background substraction which consists in classifying the pixels...
Bayesian Occupancy Filtering for Multitarget Tracking: an Automotive Application (2006)
Coué, Christophe, Pradalier, Cédric, Laugier, Christian, Fraichard, Thierry, Bessiere, Pierre
Reliable and efficient perception and reasoning in dynamic and densely cluttered environments are still major challenges for driver assistance systems. Most of today's systems use target tracking...
Bayesian Occupancy Filtering for Multitarget Tracking: an Automotive Application (2006)
Coué, Christophe, Pradalier, Cédric, Laugier, Christian, Fraichard, Thierry, Bessiere, Pierre
Reliable and efficient perception and reasoning in dynamic and densely cluttered environments are still major challenges for driver assistance systems. Most of today's systems use target tracking...
Cybercar Cooperation for Safe Intersections (2006)
Bouraoui, Laurent, Petti, Stephane, Laouiti, Anis, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of motion autonomy of Cybercars across a urban intersection. Cybercars are small electric city vehicles aimed at navigating autonomously. In the context of a crossing,...
Fast Object Extraction from Bayesian Occupancy Grids Using Self Organizing Networks (2006)
Vasquez Govea, Dizan Alejandro, Romanelli, Fabrizio, Fraichard, Thierry, Laugier, Christian
Despite their popularity, occupancy grids cannot be directly applied to problems where the identity of the objects populating an environment needs to be taken into account (eg object tracking, scene...
Cybercar Cooperation for Safe Intersections (2006)
Bouraoui, Laurent, Petti, Stephane, Laouiti, Anis, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of motion autonomy of Cybercars across a urban intersection. Cybercars are small electric city vehicles aimed at navigating autonomously. In the context of a crossing,...
Fast Object Extraction from Bayesian Occupancy Grids Using Self Organizing Networks (2006)
Vasquez Govea, Dizan Alejandro, Romanelli, Fabrizio, Fraichard, Thierry, Laugier, Christian
Despite their popularity, occupancy grids cannot be directly applied to problems where the identity of the objects populating an environment needs to be taken into account (eg object tracking, scene...
PUVAME - New French Approach for Vulnerable Road Users Safety (2006)
Aycard, Olivier, Spalanzani, Anne, Yguel, Manuel, Burlet, Julien, Du Lac, Nicolas, De La Fortelle, Arnaud, ...
In France, about 33% of roads victims are Vulnerable Road Users (VRU). In its 3rd framework, the french PREDIT2 includes VRU Safety. The PUVAME project was created to generate solutions to avoid...
PUVAME - New French Approach for Vulnerable Road Users Safety (2006)
Aycard, Olivier, Spalanzani, Anne, Yguel, Manuel, Burlet, Julien, Du Lac, Nicolas, De La Fortelle, Arnaud, ...
In France, about 33% of roads victims are Vulnerable Road Users (VRU). In its 3rd framework, the french PREDIT2 includes VRU Safety. The PUVAME project was created to generate solutions to avoid...
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
A Novel Self Organizing Network to Perform Fast Moving Object Extraction from Video Streams (2006)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry
Image segmentation is a critical task in computer vision. In the context of motion detection, a very popular segmentation approach is background substraction which consists in classifying the pixels...
Bayesian Occupancy Filtering for Multitarget Tracking: an Automotive Application (2006)
Coué, Christophe, Pradalier, Cédric, Laugier, Christian, Fraichard, Thierry, Bessiere, Pierre
Reliable and efficient perception and reasoning in dynamic and densely cluttered environments are still major challenges for driver assistance systems. Most of today's systems use target tracking...
Cybercar Cooperation for Safe Intersections (2006)
Bouraoui, Laurent, Petti, Stephane, Laouiti, Anis, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of motion autonomy of Cybercars across a urban intersection. Cybercars are small electric city vehicles aimed at navigating autonomously. In the context of a crossing,...
Fast Object Extraction from Bayesian Occupancy Grids Using Self Organizing Networks (2006)
Vasquez Govea, Dizan Alejandro, Romanelli, Fabrizio, Fraichard, Thierry, Laugier, Christian
Despite their popularity, occupancy grids cannot be directly applied to problems where the identity of the objects populating an environment needs to be taken into account (eg object tracking, scene...
PUVAME - New French Approach for Vulnerable Road Users Safety (2006)
Aycard, Olivier, Spalanzani, Anne, Yguel, Manuel, Burlet, Julien, Du Lac, Nicolas, De La Fortelle, Arnaud, ...
In France, about 33% of roads victims are Vulnerable Road Users (VRU). In its 3rd framework, the french PREDIT2 includes VRU Safety. The PUVAME project was created to generate solutions to avoid...
A Short Report about Motion Safety (2006)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles (2006)
Benenson, Rodrigo, Petti, Stéphane, Parent, Michel, Fraichard, Thierry
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
A Novel Self Organizing Network to Perform Fast Moving Object Extraction from Video Streams (2006)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry
Image segmentation is a critical task in computer vision. In the context of motion detection, a very popular segmentation approach is background substraction which consists in classifying the pixels...
Bayesian Occupancy Filtering for Multitarget Tracking: an Automotive Application (2006)
Coué, Christophe, Pradalier, Cédric, Laugier, Christian, Fraichard, Thierry, Bessiere, Pierre
Reliable and efficient perception and reasoning in dynamic and densely cluttered environments are still major challenges for driver assistance systems. Most of today's systems use target tracking...
Cybercar Cooperation for Safe Intersections (2006)
Bouraoui, Laurent, Petti, Stephane, Laouiti, Anis, Fraichard, Thierry, Parent, Michel
The paper addresses the problem of motion autonomy of Cybercars across a urban intersection. Cybercars are small electric city vehicles aimed at navigating autonomously. In the context of a crossing,...
Fast Object Extraction from Bayesian Occupancy Grids Using Self Organizing Networks (2006)
Vasquez Govea, Dizan Alejandro, Romanelli, Fabrizio, Fraichard, Thierry, Laugier, Christian
Despite their popularity, occupancy grids cannot be directly applied to problems where the identity of the objects populating an environment needs to be taken into account (eg object tracking, scene...
PUVAME - New French Approach for Vulnerable Road Users Safety (2006)
Aycard, Olivier, Spalanzani, Anne, Yguel, Manuel, Burlet, Julien, Du Lac, Nicolas, De La Fortelle, Arnaud, ...
In France, about 33% of roads victims are Vulnerable Road Users (VRU). In its 3rd framework, the french PREDIT2 includes VRU Safety. The PUVAME project was created to generate solutions to avoid...
A Short Report about Motion Safety (2006)
Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is...
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles (2006)
Benenson, Rodrigo, Petti, Stéphane, Parent, Michel, Fraichard, Thierry
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving...
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
Contributions à la planification de mouvement (2006)
Contributions à la planification de mouvement.
Cybercar: l'alternative à la voiture particulière (2005)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
Cybercar: l'alternative à la voiture particulière (2005)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
Cybercar: l'alternative à la voiture particulière (2005)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
Cybercar: l'alternative à la voiture particulière (2005)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
Intentional Motion On-line Learning and Prediction (2005)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Aycard, Olivier, Laugier, Christian
Motion prediction for objects which are able to decide their trajectory on the basis of a planning or decision process (e.g. humans and robots) is a challenging problem. Most existing approaches...
Reactive Planning Under Uncertainty Among Moving Obstacles (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of navigation of complex systems in dynamic environments under uncertainty. Such environments impose a hard real time constraint. However, computing a complete motion...
Partial Motion Planning Framework for Reactive Planning Within Dynamic Environments (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of motion planning in dynamic environments. As dynamic environments impose a real-time constraint, the planner has a limited time only to compute a motion. Given the...
Robust Navigation using Markov Models (2005)
Burlet, Julien, Aycard, Olivier, Fraichard, Thierry
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Safe Navigation of a Car-Like Robot in a Dynamic Environment (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of navigation of a car-like robot in dynamic environments. Such environments impose a hard real time constraint. However, computing a complete motion to the goal...
Steps towards safe navigation in open and dynamic environments (2005)
Laugier, Christian, Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
Safe Motion Planning in Dynamic Environments (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of motion planning (MP) in dynamic environments. It is first argued that dynamic environments impose a real-time constraint upon MP: it has a limited time only to...
Intentional Motion On-line Learning and Prediction (2005)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Aycard, Olivier, Laugier, Christian
Motion prediction for objects which are able to decide their trajectory on the basis of a planning or decision process (e.g. humans and robots) is a challenging problem. Most existing approaches...
Reactive Planning Under Uncertainty Among Moving Obstacles (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of navigation of complex systems in dynamic environments under uncertainty. Such environments impose a hard real time constraint. However, computing a complete motion...
Partial Motion Planning Framework for Reactive Planning Within Dynamic Environments (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of motion planning in dynamic environments. As dynamic environments impose a real-time constraint, the planner has a limited time only to compute a motion. Given the...
Robust Navigation using Markov Models (2005)
Burlet, Julien, Aycard, Olivier, Fraichard, Thierry
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Safe Navigation of a Car-Like Robot in a Dynamic Environment (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of navigation of a car-like robot in dynamic environments. Such environments impose a hard real time constraint. However, computing a complete motion to the goal...
Steps towards safe navigation in open and dynamic environments (2005)
Laugier, Christian, Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
Safe Motion Planning in Dynamic Environments (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of motion planning (MP) in dynamic environments. It is first argued that dynamic environments impose a real-time constraint upon MP: it has a limited time only to...
Safe Motion Planning in Dynamic Environments (2005)
Stephane Petti, Thierry Fraichard, Inria Rocquencourt
This paper addresses the problem of motion planning (MP) in dynamic environments. It is first argued that dynamic environments impose a real-time constraint upon MP: it has a limited time only to...
Robust Navigation Using Markov Models (2005)
Julien Burlet, Olivier Aycard, Thierry Fraichard
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Partial motion planning framework for reactive planning within dynamic environments (2005)
Stéphane Petti, Thierry Fraichard
Abstract: This paper addresses the problem of motion planning in dynamic environments. As dynamic environments impose a real-time constraint, the planner has a limited time only to compute a motion....
Intentional Motion On-line Learning and Prediction (2005)
Dizan Vasquez, Thierry Fraichard, Olivier Aycard, Christian Laugier, Inria Rhône-alpes
Hidden Markov Models as a way to represent plans as hierarchies of probabilistic sub-plans or policies. Although the approach does not define an automatized learning mechanism, this has been done in...
Safe Navigation of a Car-Like Robot within a Dynamic Environment (2005)
Stephane Petti, Thierry Fraichard
This paper addresses the problem of navigation of a carlike robot in dynamic environments. Such environments impose a hard real time constraint. However, computing a complete motion to the goal...
Intentional Motion On-line Learning and Prediction (2005)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Aycard, Olivier, Laugier, Christian
Motion prediction for objects which are able to decide their trajectory on the basis of a planning or decision process (e.g. humans and robots) is a challenging problem. Most existing approaches...
Partial Motion Planning Framework for Reactive Planning Within Dynamic Environments (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of motion planning in dynamic environments. As dynamic environments impose a real-time constraint, the planner has a limited time only to compute a motion. Given the...
Reactive Planning Under Uncertainty Among Moving Obstacles (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of navigation of complex systems in dynamic environments under uncertainty. Such environments impose a hard real time constraint. However, computing a complete motion...
Robust Navigation using Markov Models (2005)
Burlet, Julien, Aycard, Olivier, Fraichard, Thierry
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Safe Motion Planning in Dynamic Environments (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of motion planning (MP) in dynamic environments. It is first argued that dynamic environments impose a real-time constraint upon MP: it has a limited time only to...
Safe Navigation of a Car-Like Robot in a Dynamic Environment (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of navigation of a car-like robot in dynamic environments. Such environments impose a hard real time constraint. However, computing a complete motion to the goal...
Steps towards safe navigation in open and dynamic environments (2005)
Laugier, Christian, Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
Cybercar: l'alternative à la voiture particulière (2005)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
Intentional Motion On-line Learning and Prediction (2005)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Aycard, Olivier, Laugier, Christian
Motion prediction for objects which are able to decide their trajectory on the basis of a planning or decision process (e.g. humans and robots) is a challenging problem. Most existing approaches...
Partial Motion Planning Framework for Reactive Planning Within Dynamic Environments (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of motion planning in dynamic environments. As dynamic environments impose a real-time constraint, the planner has a limited time only to compute a motion. Given the...
Reactive Planning Under Uncertainty Among Moving Obstacles (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of navigation of complex systems in dynamic environments under uncertainty. Such environments impose a hard real time constraint. However, computing a complete motion...
Robust Navigation using Markov Models (2005)
Burlet, Julien, Aycard, Olivier, Fraichard, Thierry
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Safe Motion Planning in Dynamic Environments (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of motion planning (MP) in dynamic environments. It is first argued that dynamic environments impose a real-time constraint upon MP: it has a limited time only to...
Safe Navigation of a Car-Like Robot in a Dynamic Environment (2005)
Petti, Stephane, Fraichard, Thierry
This paper addresses the problem of navigation of a car-like robot in dynamic environments. Such environments impose a hard real time constraint. However, computing a complete motion to the goal...
Steps towards safe navigation in open and dynamic environments (2005)
Laugier, Christian, Petti, Stephane, Vasquez Govea, Dizan Alejandro, Yguel, Manuel, Fraichard, Thierry, Aycard, Olivier
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art....
Cybercar: l'alternative à la voiture particulière (2005)
In about a century, the private car has become the most popular transport means in the world. This success comes with a price (accidents, pollution, etc.), which is likely to increase in the future...
From Reeds and Shepp's to continuous-curvature paths (2004)
Fraichard, Thierry, Scheuer, Alexis
This paper presents CC Steer, a steering method for car-like vehicles, ie an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths with: a) continuous...
From Reeds and Shepp's to continuous-curvature paths (2004)
Fraichard, Thierry, Scheuer, Alexis
This paper presents CC Steer, a steering method for car-like vehicles, ie an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths with: a) continuous...
From Reeds and Shepp's to continuous-curvature paths (2004)
Fraichard, Thierry, Scheuer, Alexis
This paper presents CC Steer, a steering method for car-like vehicles, ie an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths with: a) continuous...
Robust Motion Planning using Markov Decision Processes and Quadtree Decomposition (2004)
Burlet, Julien, Aycard, Olivier, Fraichard, Thierry
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Obstacles Avoidance for Car-Like Robots. Integration And Experimentation on Two Robots (2004)
Lefebvre, Olivier, Lamiraux, Florent, Pradalier, Cédric, Fraichard, Thierry
In this paper we address the problem of obstacles avoidance for car-like robots. We present a generic nonholonomic path deformation method that has been applied on two robots. The principle is to...
Robust Motion Planning using Markov Decision Processes and Quadtree Decomposition (2004)
Burlet, Julien, Aycard, Olivier, Fraichard, Thierry
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
Obstacles Avoidance for Car-Like Robots. Integration And Experimentation on Two Robots (2004)
Lefebvre, Olivier, Lamiraux, Florent, Pradalier, Cédric, Fraichard, Thierry
In this paper we address the problem of obstacles avoidance for car-like robots. We present a generic nonholonomic path deformation method that has been applied on two robots. The principle is to...
High-Speed Autonomous Navigation with Motion Prediction for Unknown Moving Obstacles (2004)
Vasquez Govea, Dizan Alejandro, Large, Frédéric, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
Moving Obstacles' Motion Prediction for Autonomous Navigation (2004)
Vasquez Govea, Dizan Alejandro, Large, Frédéric, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
High-Speed Autonomous Navigation with Motion Prediction for Unknown Moving Obstacles (2004)
Vasquez Govea, Dizan Alejandro, Large, Frédéric, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
Moving Obstacles' Motion Prediction for Autonomous Navigation (2004)
Vasquez Govea, Dizan Alejandro, Large, Frédéric, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
Avoiding Cars and Pedestrians using V-Obstacles and Motion Prediction (2004)
Large, Frédéric, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
Motion Prediction for Moving Objects: a Statistical Approach (2004)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry
This paper proposes a technique to obtain long term estimates of the motion of a moving object in a structured environment. Objects moving in such environments often participate in typical motion...
Avoiding Cars and Pedestrians using V-Obstacles and Motion Prediction (2004)
Large, Frédéric, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
Motion Prediction for Moving Objects: a Statistical Approach (2004)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry
This paper proposes a technique to obtain long term estimates of the motion of a moving object in a structured environment. Objects moving in such environments often participate in typical motion...
Inevitable collision states - a step towards safer robots? (2004)
Fraichard, Thierry, Asama, Hajime
An inevitable collision state for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs....
Inevitable collision states - a step towards safer robots? (2004)
Fraichard, Thierry, Asama, Hajime
An inevitable collision state for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs....
Inevitable collision states - a step towards safer robots (2004)
Hajime Asama, Thierry Fraichard, Thierry Fraichard
Abstract — An inevitable collision state for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle...
Robust motion planning using markov decision processes and quadtree decomposition (2004)
Julien Burlet, Julien Burlet, Olivier Aycard, Olivier Aycard, Thierry Fraichard, Thierry Fraichard
Abstract — To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have...
Inevitable collision states - a step towards safer robots (2004)
Thierry Fraichard, Thierry Fraichard, Hajime Asama, Hajime Asama
Abstract — An inevitable collision state for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle...
Moving Obstacles' Motion Prediction for Autonomous Navigation (2004)
Dizan Vasquez, Frederic Large, Thierry Fraichard And Christian Laugier, Thierry Fraichard, Christian Laugier
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
High-Speed Autonomous Navigation with Motion Prediction (2004)
Dizan Vasquez, Dizan Vasquez, Thierry Fraichard And Christian Laugier, Frederic Large, Frédéric Large, Thierry Fraichard, ...
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown.
Inevitable collision states - a step towards safer robots? (2004)
Fraichard, Thierry, Asama, Hajime
An inevitable collision state for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs....
Avoiding Cars and Pedestrians using V-Obstacles and Motion Prediction (2004)
Large, Frédéric, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
High-Speed Autonomous Navigation with Motion Prediction for Unknown Moving Obstacles (2004)
Vasquez Govea, Dizan Alejandro, Large, Frédéric, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
Motion Prediction for Moving Objects: a Statistical Approach (2004)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry
This paper proposes a technique to obtain long term estimates of the motion of a moving object in a structured environment. Objects moving in such environments often participate in typical motion...
Moving Obstacles' Motion Prediction for Autonomous Navigation (2004)
Vasquez Govea, Dizan Alejandro, Large, Frédéric, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
Obstacles Avoidance for Car-Like Robots. Integration And Experimentation on Two Robots (2004)
Lefebvre, Olivier, Lamiraux, Florent, Pradalier, Cédric, Fraichard, Thierry
In this paper we address the problem of obstacles avoidance for car-like robots. We present a generic nonholonomic path deformation method that has been applied on two robots. The principle is to...
Robust Motion Planning using Markov Decision Processes and Quadtree Decomposition (2004)
Burlet, Julien, Aycard, Olivier, Fraichard, Thierry
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
From Reeds and Shepp's to continuous-curvature paths (2004)
Fraichard, Thierry, Scheuer, Alexis
This paper presents CC Steer, a steering method for car-like vehicles, ie an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths with: a) continuous...
Inevitable collision states - a step towards safer robots? (2004)
Fraichard, Thierry, Asama, Hajime
An inevitable collision state for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs....
Avoiding Cars and Pedestrians using V-Obstacles and Motion Prediction (2004)
Large, Frédéric, Vasquez Govea, Dizan Alejandro, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
High-Speed Autonomous Navigation with Motion Prediction for Unknown Moving Obstacles (2004)
Vasquez Govea, Dizan Alejandro, Large, Frédéric, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
Motion Prediction for Moving Objects: a Statistical Approach (2004)
Vasquez Govea, Dizan Alejandro, Fraichard, Thierry
This paper proposes a technique to obtain long term estimates of the motion of a moving object in a structured environment. Objects moving in such environments often participate in typical motion...
Moving Obstacles' Motion Prediction for Autonomous Navigation (2004)
Vasquez Govea, Dizan Alejandro, Large, Frédéric, Fraichard, Thierry, Laugier, Christian
Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too...
Obstacles Avoidance for Car-Like Robots. Integration And Experimentation on Two Robots (2004)
Lefebvre, Olivier, Lamiraux, Florent, Pradalier, Cédric, Fraichard, Thierry
In this paper we address the problem of obstacles avoidance for car-like robots. We present a generic nonholonomic path deformation method that has been applied on two robots. The principle is to...
Robust Motion Planning using Markov Decision Processes and Quadtree Decomposition (2004)
Burlet, Julien, Aycard, Olivier, Fraichard, Thierry
To reach a given goal, a mobile robot first computes a motion plan (ie a sequence of actions that will take it to its goal), and then executes it. Markov Decision Processes (MDPs) have been...
From Reeds and Shepp's to continuous-curvature paths (2004)
Fraichard, Thierry, Scheuer, Alexis
This paper presents CC Steer, a steering method for car-like vehicles, ie an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths with: a) continuous...
Using Bayesian Programming for Multi-Sensor Multi-Target Tracking in Automotive Applications (2003)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Multi-Target Tracking in Automotive Applications (2003)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Multi-Target Tracking in Automotive Applications (2003)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Inevitable Collision States. A Step Towards Safer Robots? (2003)
Fraichard, Thierry, Asama, Hajime
An inevitable collision state for a robotic system can be dened as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs....
Inevitable Collision States. A Step Towards Safer Robots? (2003)
Fraichard, Thierry, Asama, Hajime
An inevitable collision state for a robotic system can be dened as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs....
Using Bayesian Programming for Multi-Sensor Multi-Target Tracking in Automotive Applications (2003)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Inevitable Collision States. A Step Towards Safer Robots? (2003)
Fraichard, Thierry, Asama, Hajime
An inevitable collision state for a robotic system can be dened as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs....
Using Bayesian Programming for Multi-Sensor Multi-Target Tracking in Automotive Applications (2003)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Inevitable Collision States. A Step Towards Safer Robots? (2003)
Fraichard, Thierry, Asama, Hajime
An inevitable collision state for a robotic system can be dened as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs....
Using Bayesian Programming for Multi-Sensor Multi-Target Tracking in Automotive Applications (2003)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Multi-Target Tracking in Automotive Applications (2003)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Data Fusion in Automotive Applications (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing sytem providing all the information required for high-level driving assistance tasks. Carsense is a...
Multi-Sensor Data Fusion Using Bayesian Programming : an Automotive Application (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Multi-Sensor Data Fusion Using Bayesian Programming : an Automotive Application (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Data Fusion in Automotive Applications (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing sytem providing all the information required for high-level driving assistance tasks. Carsense is a...
Multi-Sensor Data Fusion Using Bayesian Programming : an Automotive Application (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Data Fusion in Automotive Applications (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing sytem providing all the information required for high-level driving assistance tasks. Carsense is a...
Multi-Sensor Data Fusion Using Bayesian Programming : an Automotive Application (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Data Fusion in Automotive Applications (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing sytem providing all the information required for high-level driving assistance tasks. Carsense is a...
Multi-Sensor Data Fusion Using Bayesian Programming : an Automotive Application (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Data Fusion in Automotive Applications (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing sytem providing all the information required for high-level driving assistance tasks. Carsense is a...
Multi-Sensor Data Fusion Using Bayesian Programming : an Automotive Application (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Data Fusion in Automotive Applications (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing sytem providing all the information required for high-level driving assistance tasks. Carsense is a...
Multi-Sensor Data Fusion Using Bayesian Programming : an Automotive Application (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a...
Using Bayesian Programming for Multi-Sensor Data Fusion in Automotive Applications (2002)
Coué, Christophe, Fraichard, Thierry, Bessiere, Pierre, Mazer, Emmanuel
A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing sytem providing all the information required for high-level driving assistance tasks. Carsense is a...
Fuzzy Control to Drive Car-Like Vehicles (2001)
Fraichard, Thierry, Garnier, Philippe
The reactive component of a motion control architecture (called EM) for a car-like vehicle intended to move in dynamic and partially known environments is presented in this paper. Its purpose is to...
Fuzzy Control to Drive Car-Like Vehicles (2001)
Fraichard, Thierry, Garnier, Philippe
The reactive component of a motion control architecture (called EM) for a car-like vehicle intended to move in dynamic and partially known environments is presented in this paper. Its purpose is to...
Fuzzy Control to Drive Car-Like Vehicles (2001)
Fraichard, Thierry, Garnier, Philippe
The reactive component of a motion control architecture (called EM) for a car-like vehicle intended to move in dynamic and partially known environments is presented in this paper. Its purpose is to...
Fuzzy Control to Drive Car-Like Vehicles (2001)
Fraichard, Thierry, Garnier, Philippe
The reactive component of a motion control architecture (called EM) for a car-like vehicle intended to move in dynamic and partially known environments is presented in this paper. Its purpose is to...
Decisional Architectures for Motion Autonomy (2000)
Christian Laugier, Thierry Fraichard, Dr. Christian Laugier, Dr. Thierry Fraichard, Rh#ne-alpes Gravir
Motion autonomy has been a long standing issue in Robotics. Since the late sixties, several control architectures have been proposed. It seems accepted now that such architectures should feature both...
From Reeds and Shepp's to Continuous-Curvature Paths (1999)
Fraichard, Thierry, Scheuer, Alexis, Desvigne, Richard
Most path planners for car-like robots compute ``Reeds and Shepp paths'' made up of line segments connected with circular arcs. Such paths have a discontinuous curvature that makes them difficult to...
From Reeds and Shepp's to Continuous-Curvature Paths (1999)
Fraichard, Thierry, Scheuer, Alexis, Desvigne, Richard
Most path planners for car-like robots compute ``Reeds and Shepp paths'' made up of line segments connected with circular arcs. Such paths have a discontinuous curvature that makes them difficult to...
Sensor-based control and decisional architecture for a car-like vehicle (1999)
Laugier, Christian, Garnier, Philippe, Fraichard, Thierry, Paromtchik, Igor, Scheuer, Alexis
This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Sensor-based control and decisional architecture for a car-like vehicle (1999)
Laugier, Christian, Garnier, Philippe, Fraichard, Thierry, Paromtchik, Igor, Scheuer, Alexis
This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Trajectory planning in a dynamic workspace: a `state-time space' approach (1999)
This paper presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Sensor-based control architecture for a car-like vehicle (1999)
Laugier, Christian, Fraichard, Thierry, Garnier, Philippe, Paromtchik, Igor, Scheuer, Alexis
This paper presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Trajectory planning in a dynamic workspace: a `state-time space' approach (1999)
This paper presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Sensor-based control architecture for a car-like vehicle (1999)
Laugier, Christian, Fraichard, Thierry, Garnier, Philippe, Paromtchik, Igor, Scheuer, Alexis
This paper presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Sensor-based control architecture for a car-like vehicle (1999)
Laugier, Christian, Fraichard, Thierry, Garnier, Philippe, Paromtchik, Igor, Scheuer, Alexis
This paper presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Trajectory planning in a dynamic workspace: a `state-time space' approach (1999)
This paper presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Sensor-based control architecture for a car-like vehicle (1999)
Laugier, Christian, Fraichard, Thierry, Garnier, Philippe, Paromtchik, Igor, Scheuer, Alexis
This paper presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Trajectory planning in a dynamic workspace: a `state-time space' approach (1999)
This paper presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Trajectory Planning in Dynamic Workspace: a `State-Time Space' Approach (1998)
This report addresses trajectory planning in dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced...
Sensor-Based Control Architecture for a Car-Like Vehicle (1998)
Laugier, Christian, Fraichard, Thierry, Garnier, Philippe, Paromtchik, Igor, Scheuer, Alexis
This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Motion Planning and Sensor-Guided Manoeuvre Generation for an Autonomous Vehicle (1998)
Laugier, Christian, Garnier, Philippe, Fraichard, Thierry, Paromtchik, Igor, Scheuer, Alexis
This paper deals with a novel motion control approach for a car-like vehicle evolving in a dynamic and partially known environment. After having briefly presented the overall architecture of the...
Continuous-Curvature Path Planning for Car-Like Vehicles (1998)
Scheuer, Alexis, Fraichard, Thierry
In this paper, we consider path planning for a car-like vehicle. Previous solutions to this problem computed paths made up of circular arcs connected by tangential line segments. Such paths have a...
Motion Planning and Sensor-Guided Manoeuvre Generation for an Autonomous Vehicle (1998)
Laugier, Christian, Garnier, Philippe, Fraichard, Thierry, Paromtchik, Igor, Scheuer, Alexis
This paper deals with a novel motion control approach for a car-like vehicle evolving in a dynamic and partially known environment. After having briefly presented the overall architecture of the...
Continuous-Curvature Path Planning for Car-Like Vehicles (1998)
Scheuer, Alexis, Fraichard, Thierry
In this paper, we consider path planning for a car-like vehicle. Previous solutions to this problem computed paths made up of circular arcs connected by tangential line segments. Such paths have a...
Trajectory Planning in Dynamic Workspace: a `State-Time Space' Approach (1998)
This report addresses trajectory planning in dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced...
Sensor-Based Control Architecture for a Car-Like Vehicle (1998)
Laugier, Christian, Fraichard, Thierry, Garnier, Philippe, Paromtchik, Igor, Scheuer, Alexis
This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Trajectory Planning in Dynamic Workspace: a `State-Time Space' Approach (1998)
This report addresses trajectory planning in dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced...
Sensor-Based Control Architecture for a Car-Like Vehicle (1998)
Laugier, Christian, Fraichard, Thierry, Garnier, Philippe, Paromtchik, Igor, Scheuer, Alexis
This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Trajectory planning amidst moving obstacles: path-velocity decomposition revisited (1998)
This paper addresses trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace. A car-like robot M with bounded velocity and acceleration, moving in a dynamic...
Trajectory planning amidst moving obstacles: path-velocity decomposition revisited (1998)
This paper addresses trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace. A car-like robot M with bounded velocity and acceleration, moving in a dynamic...
Sensor-Based Control Architecture for a Car-Like Vehicle (1998)
Christian Laugier, Christian Laugier, Philippe Garnier, Thierry Fraichard, Thierry Fraichard, Igor Paromtchik, ...
: This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control...
Trajectory planning amidst moving obstacles: path-velocity decomposition revisited (1998)
This paper addresses trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace. A car-like robot M with bounded velocity and acceleration, moving in a dynamic...
Sensor-Based Control Architecture for a Car-Like Vehicle (1998)
Laugier, Christian, Fraichard, Thierry, Garnier, Philippe, Paromtchik, Igor, Scheuer, Alexis
This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Trajectory Planning in Dynamic Workspace: a `State-Time Space' Approach (1998)
This report addresses trajectory planning in dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced...
Trajectory planning amidst moving obstacles: path-velocity decomposition revisited (1998)
This paper addresses trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace. A car-like robot M with bounded velocity and acceleration, moving in a dynamic...
Sensor-Based Control Architecture for a Car-Like Vehicle (1998)
Laugier, Christian, Fraichard, Thierry, Garnier, Philippe, Paromtchik, Igor, Scheuer, Alexis
This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures...
Trajectory Planning in Dynamic Workspace: a `State-Time Space' Approach (1998)
This report addresses trajectory planning in dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced...
Motion Planning and Sensor-Guided Manoeuvre Generation for an Autonomous Vehicle (1997)
Laugier, Christian, Garnier, Philippe, Fraichard, Thierry, Paromtchik, Igor, Scheuer, Alexis
This paper deals with a novel motion control approach for a car-like vehicle evolving in a dynamic and partially known environment. After having briefly presented the overall architecture of the...
Motion Planning and Sensor-Guided Manoeuvre Generation for an Autonomous Vehicle (1997)
Laugier, Christian, Garnier, Philippe, Fraichard, Thierry, Paromtchik, Igor, Scheuer, Alexis
This paper deals with a novel motion control approach for a car-like vehicle evolving in a dynamic and partially known environment. After having briefly presented the overall architecture of the...
Motion Autonomy Through SensorGuided Manoeuvre (1997)
Garnier, Philippe, Fraichard, Thierry, Laugier, Christian, Paromtchik, Igor, Scheuer, Alexis
This paper deals with a novel motion control approach for a carlike vehicle evolving in a structured, dynamic and partially known environment. The overall architecture of the control system is...
Motion Autonomy Through SensorGuided Manoeuvre (1997)
Garnier, Philippe, Fraichard, Thierry, Laugier, Christian, Paromtchik, Igor, Scheuer, Alexis
This paper deals with a novel motion control approach for a carlike vehicle evolving in a structured, dynamic and partially known environment. The overall architecture of the control system is...
Continuous-Curvature Path Planning for Car-Like Vehicles (1997)
Scheuer, Alexis, Fraichard, Thierry
In this paper, we consider path planning for a car-like vehicle. Previous solutions to this problem computed paths made up of circular arcs connected by tangential line segments. Such paths have a...
Continuous-Curvature Path Planning for Car-Like Vehicles (1997)
Scheuer, Alexis, Fraichard, Thierry
In this paper, we consider path planning for a car-like vehicle. Previous solutions to this problem computed paths made up of circular arcs connected by tangential line segments. Such paths have a...
A Fuzzy Motion Controller for a Car-Like Vehicle (1997)
Garnier, Philippe, Fraichard, Thierry
This paper describes an {\em `execution monitor'} (EM); it is the key component of a motion control architecture for a vehicle moving in a dynamic and partially known environment. EM endows the...
A Fuzzy Motion Controller for a Car-Like Vehicle (1997)
Garnier, Philippe, Fraichard, Thierry
This paper describes an {\em `execution monitor'} (EM); it is the key component of a motion control architecture for a vehicle moving in a dynamic and partially known environment. EM endows the...
A Fuzzy Motion Controller for a Car-Like Vehicle (1997)
Garnier, Philippe, Fraichard, Thierry
This paper describes an {\em `execution monitor'} (EM); it is the key component of a motion control architecture for a vehicle moving in a dynamic and partially known environment. EM endows the...
A Fuzzy Motion Controller for a Car-Like Vehicle (1997)
Philippe Garnier, Thierry Fraichard, Thierry Fraichard, Projet Sharp
: this paper describes an `execution monitor' (EM); it is the key component of a motion control architecture for a vehicle moving in a dynamic and partially known environment. EM endows the...
A Fuzzy Motion Controller for a Car-Like Vehicle (1997)
Garnier, Philippe, Fraichard, Thierry
This paper describes an {\em `execution monitor'} (EM); it is the key component of a motion control architecture for a vehicle moving in a dynamic and partially known environment. EM endows the...
A Fuzzy Motion Controller for a Car-Like Vehicle (1997)
Garnier, Philippe, Fraichard, Thierry
This paper describes an {\em `execution monitor'} (EM); it is the key component of a motion control architecture for a vehicle moving in a dynamic and partially known environment. EM endows the...
Planning Continuous-Curvature Paths for Car-Like Robots (1996)
Scheuer, Alexis, Fraichard, Thierry
This paper presents a Continuous-Curvature Path Planner (CCPP) for a car-like robot. Existing planners for car-like robots compute paths made up of straight segments connected with tangential...
Planning Continuous-Curvature Paths for Car-Like Robots (1996)
Scheuer, Alexis, Fraichard, Thierry
This paper presents a Continuous-Curvature Path Planner (CCPP) for a car-like robot. Existing planners for car-like robots compute paths made up of straight segments connected with tangential...
A Fuzzy Motion Controller for a Car-Like Vehicle (1996)
Philippe Garnier And, Thierry Fraichard, Thierry Fraichard, Projet Sharp
: this paper describes an `execution monitor' (EM); it is the key component of a motion control architecture for a vehicle moving in a dynamic and partially known environment. EM endows the...
Car-Like Robots and Moving Obstacles (1994)
Fraichard, Thierry, Scheuer, Alexis
This paper addresses motion planning for a car-like robot moving in a changing planar workspace, i.e. with moving obstacles. First, this motion planning problem is formulated in the `state-time...
Car-Like Robots and Moving Obstacles (1994)
Fraichard, Thierry, Scheuer, Alexis
This paper addresses motion planning for a car-like robot moving in a changing planar workspace, i.e. with moving obstacles. First, this motion planning problem is formulated in the `state-time...
Planification de mouvement pour mobile non-holonome en espace de travail dynamique (1992)
Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail...
Planification de mouvement pour mobile non-holonome en espace de travail dynamique (1992)
Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail...
Planification de mouvement pour mobile non-holonome en espace de travail dynamique (1992)
Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail...
Planification de mouvement pour mobile non-holonome en espace de travail dynamique (1992)
Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail...
Planification de mouvement pour mobile non-holonome en espace de travail dynamique (1992)
Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail...
Planification de mouvement pour mobile non-holonome en espace de travail dynamique (1992)
Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail...
Planification de mouvement pour mobile non-holonome en espace de travail dynamique (1992)
Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail...
Planification de mouvement pour mobile non-holonome en espace de travail dynamique (1992)
Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail...
Planification de mouvement pour mobile non-holonome en espace de travail dynamique (1992)
Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail...