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EN FR
RITS - 2019
New Software and Platforms
Bilateral Contracts and Grants with Industry
Bibliography
New Software and Platforms
Bilateral Contracts and Grants with Industry
Bibliography


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 [37] 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 [7]).

  • Focusing on autonomous vehicles, we begun to study scenarios with occluded dynamic obstacles.