@COMMENT This file was generated by bib2html.pl <https://sourceforge.net/projects/bib2html/> version 0.94
@COMMENT written by Patrick Riley <http://sourceforge.net/users/patstg/>
@COMMENT This file came from Mihail Pivtoraiko's publication pages at
@COMMENT http://www.seas.upenn.edu/~mihailp/pub/class_type.html
@INPROCEEDINGS{pivtoraiko_etal_isairas08,
  author = {Mihail Pivtoraiko and Thomas Howard and Issa A.D. Nesnas and Alonzo
	Kelly},
  title = {Field Experiments in Rover Navigation via Model-Based Trajectory
	Generation and Nonholonomic Motion Planning in State Lattices},
  booktitle = {Proceedings of the 9th International Symposium on Artificial Intelligence,
	Robotics, and Automation in Space},
  year = {2008},
  abstract = {This paper presents field experiments of two novel
                  approaches to local and regional motion planning
                  applied to planetary rover navigation. The first
                  approach solves the two-point boundary value problem
                  using a model-based trajectory optimization
                  technique that inverts an arbitrary dynamics model
                  to generate a feasible motion plan. The second
                  approach utilizes this result to build a special
                  discretization of the state space that allows
                  employing standard search algorithms for solving the
                  motion planning problem.  These approaches enable
                  robot autonomy by considering the robot’s dynamics,
                  efficiently searching a finely discretized state
                  space, and allowing the reuse of previous planning
                  computation to improve runtime.  We present results
                  from the experiments on the Rocky 8 and FIDO
                  planetary rover prototypes in the NASA/JPL Mars
                  Yard.},
  bib2html_pubtype = {Refereed Conference Papers},
  bib2html_rescat = {Robot Navigation},
  owner = {mihail},
  timestamp = {2010.08.07}
}