Research paper
Retaining safe replanning options under dynamics limits
A tree-based planner reuses previous search effort and applies lazy collision checking when replanning with limited computation. The stated setting is a mobile platform mapping partially known space under kinodynamic constraints.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Greedy but Safe Replanning under Kinodynamic Constraints
- Publisher
- IEEE
- Authors
- Kostas E. Bekris, Lydia E. Kavraki
- DOI
- 10.1109/robot.2007.363069
- Conference date
- 2007-04
- Source language
- en
- Source country
- US
- Edition
- Proceedings 2007 IEEE International Conference on Robotics and Automation
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
A tree-based planner reuses previous search effort and applies lazy collision checking when replanning with limited computation. The stated setting is a mobile platform mapping partially known space under kinodynamic constraints.
Use and review
Guarantees are conditional on the stated dynamics, sensing and constraint assumptions. Abstract/source screening does not validate a complete robot installation or an ISO13849 safety function.
Sources & editions
Greedy but Safe Replanning under Kinodynamic Constraints ↗
IEEE · Proceedings 2007 IEEE International Conference on Robotics and Automation
Author-institution indexed abstract/bibliography checked through web; direct repository request delivered minimal client page. Author Rice manuscript indexed introduction identifies simulated nonholonomic mobile robot; no physical trial inferred.