Publication

A Light Formulation of the E* Interpolated Path Replanner

Roland Philippsen
2006
Reports

Abstract

The E* algorithm is a path planning method capable of dynamic replanning and user-configurable path cost interpolation, it results in more appropriate paths during gradient descent. The underlying formulation is based on interpreting navigation functions as a sampled continuous crossing-time map that takes into account a risk measure. Replanning means that changes in the environment model can be repaired to avoid the expenses of complete planning. This helps compensating for the increased computational effort required for interpolation.

Official source

https://infoscience.epfl.ch/entities/publication/97b863c1-24ff-4543-9bff-d402bd37ac8f

About this result

This page is automatically generated and may contain information that is not correct, complete, up-to-date, or relevant to your search query. The same applies to every other page on this website. Please make sure to verify the information with EPFL's official sources.

Graph Chat

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.

Roland Philippsen
2006
Reports

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/97b863c1-24ff-4543-9bff-d402bd37ac8f

About this result

Related concepts (27)

Interpolation

In the mathematical field of numerical analysis, interpolation is a type of estimation, a method of constructing (finding) new data points based on the range of a discrete set of known data points. In engineering and science, one often has a number of data points, obtained by sampling or experimentation, which represent the values of a function for a limited number of values of the independent variable. It is often required to interpolate; that is, estimate the value of that function for an intermediate value of the independent variable.

Risk measure

In financial mathematics, a risk measure is used to determine the amount of an asset or set of assets (traditionally currency) to be kept in reserve. The purpose of this reserve is to make the risks taken by financial institutions, such as banks and insurance companies, acceptable to the regulator. In recent years attention has turned towards convex and coherent risk measurement. A risk measure is defined as a mapping from a set of random variables to the real numbers. This set of random variables represents portfolio returns.

Multivariate interpolation

In numerical analysis, multivariate interpolation is interpolation on functions of more than one variable (multivariate functions); when the variates are spatial coordinates, it is also known as spatial interpolation. The function to be interpolated is known at given points and the interpolation problem consists of yielding values at arbitrary points . Multivariate interpolation is particularly important in geostatistics, where it is used to create a digital elevation model from a set of points on the Earth's surface (for example, spot heights in a topographic survey or depths in a hydrographic survey).

Related publications (1)

A Light Formulation of the E* Interpolated Path Replanner

Chat with Graph Search

Raster rotation of bilevel bitmap images