CMU CFR Seminar: Nonholonomic Distance to Polygonal Obstacles for a Car-Like Robot

Who: Marilena Vendittelli
When: 4:30 PM, Tuesday 9/27

Abstract: The motion of wheeled mobile robots is subject to nonholonomic constraints deriving from the wheels' pure rolling hypothesis. A well known consequence is that any path in the configuration space is not necessarily feasible for these systems. For this reason the euclidean metric is not appropriate for determining the distance to obstacles in the robot environment. In this talk, we define and show how to compute a distance between the robot and the obstacles which takes into account the nonholonomic constraints.

Contact:
Visiting faculty at the Robotics Institute until Dec 2005.
E-mail: venditt@dis.uniroma1.it
http://www.dis.uniroma1.it/~labrob/people/vendittelli/venditt.html