Safely Probabilistically Complete Real-Time Planning and Exploration in Unknown Environments

19 Nov 2018David Fridovich-KeilJaime F. FisacClaire J. Tomlin

We present a new framework for motion planning that wraps around existing kinodynamic planners and guarantees recursive feasibility when operating in a priori unknown, static environments. Our approach makes strong guarantees about overall safety and collision avoidance by utilizing a robust controller derived from reachability analysis... (read more)

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