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@INPROCEEDINGS{pivtoraiko_nesnas_kelly_aerospace09,
  author = {Mihail Pivtoraiko and Issa A.D. Nesnas and Alonzo Kelly},
  title = {Autonomous Robot Navigation Using Advanced Motion Primitives},
  booktitle = {Proc. of the IEEE Aerospace Conference},
  year = {2009},
  pages = {1--7},
  month = {March},
  abstract = {We present an approach to efficient navigation of
                  autonomous wheeled robots operating in cluttered
                  natural environments. The approach builds upon a
                  popular method of autonomous robot navigation, where
                  desired robot motions are computed using local and
                  global motion planners operating in tandem. A
                  conventional approach to designing the local planner
                  in this setting is to evaluate a fixed number of
                  constant-curvature arc motions and pick one that is
                  the best balance between the quality of obstacle
                  avoidance and minimizing traversed path length to
                  the goal (or a similar measure of operation
                  cost). The presented approach proposes a different
                  set of motion alternatives considered by the local
                  planner. Important performance improvement is
                  achieved by relaxing the assumption that motion
                  alternatives are constant-curvature arcs. We first
                  present a method to measure the quality of local
                  planners in this setting. Further, we identify
                  general techniques of designing improved sets of
                  motion alternatives. By virtue of a minor
                  modification, solely replacing the motions
                  considered by the local planner, our approach offers
                  a measurable performance improvement of dual-planner
                  navigation systems},
  bib2html_pubtype = {Refereed Conference Papers},
  bib2html_rescat = {Robot Navigation},
  doi = {10.1109/AERO.2009.4839309}
}