Hierarchical planning algorithms

Alberto Lacaze

doi:10.1117/12.474464

17 July 2002 Hierarchical planning algorithms

Alberto Lacaze

Proceedings Volume 4715, Unmanned Ground Vehicle Technology IV; (2002) https://doi.org/10.1117/12.474464
Event: AeroSense 2002, 2002, Orlando, FL, United States

Abstract

A novel method for communicating commands in hierarchical planning control is presented. This new method can be used to guarantee that plans created will be optimal within and across the planning graphs throughout the hierarchy. Boundary conditions are specified so that optimality is guaranteed. Specific hierarchical planning examples are given for a group of off-road autonomous ground vehicles.

Citation Download Citation

Alberto Lacaze "Hierarchical planning algorithms", Proc. SPIE 4715, Unmanned Ground Vehicle Technology IV, (17 July 2002); https://doi.org/10.1117/12.474464

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