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Publications of year 2003

Articles in journal, book chapters

  1. E. Frazzoli. Quasi-Random Algorithms for Real-Time Motion Planning and Coordination. Acta Astronautica, 54(4--10):485-495, 2003. [PDF] Keyword(s): Motion Planning, UAVs/Autonomous Systems.
    @article{Frazzoli:03a,
    Author = {E. Frazzoli},
    Date-Added = {2004-10-27 11:30:42 -0700},
    Date-Modified = {2008-07-19 01:18:45 -0400},
    Journal = {Acta Astronautica},
    Keywords = {Motion Planning; UAVs/Autonomous Systems},
    Number = {4--10},
    Pages = {485--495},
    Pdf = {/papers/Frazzoli.AA03.pdf},
    Title = {Quasi-Random Algorithms for Real-Time Motion Planning and Coordination},
    Volume = {54},
    Year = {2003}
    }
    

  2. E. Frazzoli, M. A. Dahleh, and E. Feron. A Maneuver-Based Hybrid Control Architecture for Autonomous Vehicle Motion Planning,. In T. Samad and G. Balas, editors, Software Enabled Control: Information Technology for Dynamical Systems. Wiley-IEEE Press, 2003. Keyword(s): Hybrid Systems, Motion Planning.

    In this paper we present an architecture for real-time motion planning, applicable to autonomous robots and vehicles. This architecture is based on the off-line definition of a library of ``maneuvers'', or more precisely trajectory primitives (and corresponding feedback control laws), and on the on-line scheduling of such primitives to achieve the mission objectives. This leads to the development of a hybrid ``Maneuver Automaton'', a new kind of dynamical system where the states represent the trajectory primitives being executed by the system, and the control input correspond to switches between such primitives. The definition of such a Maneuver Automaton ensures that all the trajectories generated by such a dynamical system will satisfy all the constraints on the vehicle's behavior --- including dynamical, flight envelope, and control saturation constraints. In addition, the complexity of motion planning problems is drastically reduced using this formulation, at the expense of sub-optimality of the generated trajectories. The results of a simple experiment on a three degrees of freedom helicopter setup will be presented and discussed.


  3. @incollection{Frazzoli.Dahleh.ea:03,
    Abstract = { In this paper we present an architecture for real-time motion planning, applicable to autonomous robots and vehicles. This architecture is based on the off-line definition of a library of ``maneuvers'', or more precisely trajectory primitives (and corresponding feedback control laws), and on the on-line scheduling of such primitives to achieve the mission objectives. This leads to the development of a hybrid ``Maneuver Automaton'', a new kind of dynamical system where the states represent the trajectory primitives being executed by the system, and the control input correspond to switches between such primitives. The definition of such a Maneuver Automaton ensures that all the trajectories generated by such a dynamical system will satisfy all the constraints on the vehicle's behavior --- including dynamical, flight envelope, and control saturation constraints. In addition, the complexity of motion planning problems is drastically reduced using this formulation, at the expense of sub-optimality of the generated trajectories. The results of a simple experiment on a three degrees of freedom helicopter setup will be presented and discussed. },
    Author = {E. Frazzoli and M. A. Dahleh and E. Feron},
    Booktitle = {Software Enabled Control: Information Technology for Dynamical Systems},
    Date-Added = {2004-10-27 11:09:29 -0700},
    Date-Modified = {2009-08-23 15:50:31 -0400},
    Editor = {T. Samad and G. Balas},
    Keywords = {Hybrid Systems, Motion Planning},
    Publisher = {Wiley-IEEE Press},
    Title = {A Maneuver-Based Hybrid Control Architecture for Autonomous Vehicle Motion Planning,},
    Year = {2003}
    }
    

Conference articles

  1. P. Cheng, E. Frazzoli, and S.M. LaValle. Exploiting group symmetries to improve precision in kinodynamic and nonholonomic planning. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), volume 1, pages 631-636, 2003.
    @conference{Peng.Frazzoli.ea:IROS03,
    Author = {P. Cheng and E. Frazzoli and S.M. {LaValle}},
    Booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    Date-Added = {2011-01-19 22:44:05 -0500},
    Date-Modified = {2011-01-19 23:51:44 -0500},
    Pages = {631--636},
    Title = {Exploiting group symmetries to improve precision in kinodynamic and nonholonomic planning},
    Volume = {1},
    Year = {2003}
    }
    

  2. E. Frazzoli. Explicit solutions for optimal maneuver-based motion planning. In Proc. IEEE Conf. on Decision and Control, volume 4, Las Vegas, NV, pages 3372-3377, December 2003. Keyword(s): Quantized Control.
    @conference{Frazzoli:03b,
    Address = {Las Vegas, NV},
    Author = {E. Frazzoli},
    Booktitle = {Proc. IEEE Conf. on Decision and Control},
    Date-Added = {2004-10-27 16:49:36 -0700},
    Date-Modified = {2008-08-08 12:00:32 -0400},
    Keywords = {Quantized Control},
    Month = {December},
    Pages = {3372--3377},
    Title = {Explicit solutions for optimal maneuver-based motion planning},
    Volume = {4},
    Year = {2003}
    }
    

  3. G. Ribichini and E. Frazzoli. Efficient coordination of multiple-aircraft systems. In Proc. of the IEEE Conf. on Decision and Control, volume 1, Maui, HI, pages 1035-1040, December 2003. [PDF] Keyword(s): Robotic Networks, UAVs/Autonomous Systems, Formation Flight.
    @conference{Ribichini.Frazzoli:CDC2003,
    Address = {Maui, HI},
    Author = {G. Ribichini and E. Frazzoli},
    Booktitle = {Proc. of the IEEE Conf. on Decision and Control},
    Date-Added = {2005-03-09 14:42:26 -0800},
    Date-Modified = {2011-01-19 22:38:51 -0500},
    Keywords = {Robotic Networks, UAVs/Autonomous Systems; Formation Flight},
    Local-Url = {/www/papers/Ribichini.Frazzoli.CDC03.pdf},
    Month = {December},
    Pages = {1035--1040},
    Pdf = {http://rigoletto.seas.ucla.edu/papers/Ribichini.Frazzoli.CDC03.pdf},
    Title = {Efficient coordination of multiple-aircraft systems},
    Volume = {1},
    Year = {2003}
    }
    

  4. G. Ribichini and E. Frazzoli. Energy-efficient coordination of multiple-UAV systems. In AIAA Conf. on Guidance, Navigation, and Control, Houston, TX, 2003. Keyword(s): Robotic Networks, Formation Flight, UAVs/Autonomous Systems.
    @conference{Ribichini.Frazzoli:03,
    Address = {Houston, TX},
    Author = {G. Ribichini and E. Frazzoli},
    Booktitle = {AIAA Conf. on Guidance, Navigation, and Control},
    Date-Modified = {2008-08-08 12:02:43 -0400},
    Keywords = {Robotic Networks, Formation Flight; UAVs/Autonomous Systems},
    Title = {Energy-efficient coordination of multiple-UAV systems},
    Year = {2003}
    }
    


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Last modified: Tue Aug 18 08:30:35 2015
Author: frazzoli.


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