Discussion
Kinodynamic Planning
in the Configuration Space
via Admissible Velocity Propagation
Stay in config space : fast
Find dynamic solutions : expressive
Space/time decomposition
Handle high-dof systems ?
Planning with AVP
Existing approaches
Quasi-static planning
1) Plan a path in config space with static constraints
2) Time-parameterize this path under dynamic constraints
Problem : misses many valid solutions !
Move to state space
Include velocity coordinates
Complete, but slow (dimension 2n in stead of n)
Discretization problems
Simulations
Double pendulum
Admissible Velocity Propagation
Comparison with
state-space RRT
Bobrow's algorithm
Bottle with friction
AVP algorithm