Section: New Results
Motion planning in presence of highly dynamic obstacles with uncertain motion
Participants : Pierre de Beaucorps, Renaud Poncelet, Anne Verroust-Blondet, Fawzi Nashashibi.
Safe motion planning in a dynamic environment is of great importance in many robotics applications. This year, we have worked in two directions:
The work on reachable interaction sets introduced in  has been extended to the case of dynamic obstacles with uncertain motions. We consider that the obstacles have stochastic motions and we use a probabilistic formulation to compute the RIS at each time step. Our approach improves existing methods in such a context (cf. Pierre de Beaucorps PhD thesis ).