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Proceedings Paper

Hierarchical planning algorithms
Author(s): Alberto Lacaze
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Paper Abstract

A novel method for communicating commands in hierarchical planning control is presented. This new method can be used to guarantee that plans created will be optimal within and across the planning graphs throughout the hierarchy. Boundary conditions are specified so that optimality is guaranteed. Specific hierarchical planning examples are given for a group of off-road autonomous ground vehicles.

Paper Details

Date Published: 17 July 2002
PDF: 12 pages
Proc. SPIE 4715, Unmanned Ground Vehicle Technology IV, (17 July 2002); doi: 10.1117/12.474464
Show Author Affiliations
Alberto Lacaze, National Institute of Standards and Technology (United States)

Published in SPIE Proceedings Vol. 4715:
Unmanned Ground Vehicle Technology IV
Grant R. Gerhart; Chuck M. Shoemaker; Douglas W. Gage, Editor(s)

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