Paper Title: Anytime Search-Based Footstep Planning with Suboptimality Bounds

  • Authors: Armin Hornung, Andrew Dornbush, Maxim Likhachev, and Maren Bennewitz
  • Forum: IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012

Citation

@INPROCEEDINGS{hornung12humanoids,
  author = {Armin Hornung and Andrew Dornbush and Maxim Likhachev and Maren 
  Bennewitz},
  title = {Anytime Search-Based Footstep Planning with Suboptimality Bounds},
  booktitle = {Proc.~of the IEEE-RAS International Conference on Humanoid 
  Robots (HUMANOIDS)},
  year = 2012,
  month = {November},
  address = {Osaka, Japan}
}

Full Text

hornung12humanoids.pdf

Results

Some exemplary planning results (see the paper for details):

A* footstep planning in dense clutter (11.9 s)

dense_clutter_astar_sm.png

ARA* footstep planning in dense clutter (0.7 s)

dense_clutter_ara_dijkstra_1st_sm.png

R* footstep planning in dense clutter (0.4 s)

dense_clutter_rstar_1st_sm.png

Documentation and Code

Please refer to the released code and documentation of the footstep_planner package for information about installing and running the code.


Wiki: Papers/HUMANOIDS2012_Hornung_Dornbush_Likhachev_Bennewitz (last edited 2013-01-17 17:21:11 by ArminHornung)