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Implications of motion planning : optimality and K-survivability / by Yu-Han Lyu

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Author	Lyu, Yu-Han
Title	Implications of motion planning : optimality and K-survivability / by Yu-Han Lyu
Date	2016
Abstract	We study motion planning problems, finding trajectories that connect two configurations of a system, from two different perspectives: optimality and survivability. For the problem of finding optimal trajectories, we provide a model in which the existence of optimal trajectories is guaranteed, and design an algorithm to find approximately optimal trajectories for a kinematic planar robot within this model. We also design an algorithm to build data structures to represent the configuration space, supporting optimal trajectory queries for any given pair of configurations in an obstructed environment. We are also interested in planning paths for expendable robots moving in a threat environment. Since robots are expendable, our goal is to ensure a certain number of robots reaching the goal. We consider a new motion planning problem, maximum k-survivability: given two points in a stochastic threat environment, find n paths connecting two given points while maximizing the probability that at least k paths reach the goal. Intuitively, a good solution should be diverse to avoid several paths being blocked simultaneously, and paths should be short so that robots can quickly pass through dangerous areas. Finding sets of paths with maximum k-survivability is NP-hard. We design two algorithms: an algorithm that is guaranteed to find an optimal list of paths, and a set of heuristic methods that finds paths with high k-survivability.
Description	1 online resource (xi, 188 leaves) : illustrations (some color)
Format	application/pdf
College	Dartmouth College -- Department of Computer Science.
Issuing Body	Dartmouth Dissertations are made available through the Dartmouth Digital Library.
Degree	Thesis (Ph.D)--Dartmouth College.
Copyright	Made available by the author under a Creative Commons Attribution-NonCommercial License.; Made available by the Trustees of Dartmouth College under a Creative Commons Attribution-NonCommercial License. https://creativecommons.org/licenses/by-nc/4.0/
DOI	https://doi.org/10.1349/ddlp.2172

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Implications of motion planning : optimality and K-survivability / by Yu-Han Lyu

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