[{"publication":"The International Journal of Robotics Research","status":"public","date_updated":"2024-08-12T10:15:14Z","date_published":"2021-09-01T00:00:00Z","day":"01","intvolume":"        40","abstract":[{"text":"Inspired by motion patterns of some commercially available mobile robots, we investigate the power of robots that move forward in straight lines until colliding with an environment boundary, at which point they can rotate in place and move forward again; we visualize this as the robot “bouncing” off boundaries. We define bounce rules governing how the robot should reorient after reaching a boundary, such as reorienting relative to its heading prior to collision, or relative to the normal of the boundary. We then generate plans as sequences of rules, using the bounce visibility graph generated from a polygonal environment definition, while assuming we have unavoidable non-determinism in our actuation. Our planner can be queried to determine the feasibility of tasks such as reaching goal sets and patrolling (repeatedly visiting a sequence of goals). If the task is found feasible, the planner provides a sequence of non-deterministic interaction rules, which also provide information on how precisely the robot must execute the plan to succeed. We also show how to compute stable cyclic trajectories and use these to limit uncertainty in the robot’s position. </jats:p>","lang":"eng"}],"author":[{"first_name":"Alexandra Q","full_name":"Nilles, Alexandra Q","last_name":"Nilles"},{"first_name":"Yingying","full_name":"Ren, Yingying","last_name":"Ren","id":"93d68d10-3540-11ef-a265-f748a50dba3d"},{"full_name":"Becerra, Israel","first_name":"Israel","last_name":"Becerra"},{"first_name":"Steven M","full_name":"LaValle, Steven M","last_name":"LaValle"}],"publisher":"SAGE Publications","main_file_link":[{"url":"https://doi.org/10.1177/0278364921992788","open_access":"1"}],"page":"1196-1211","year":"2021","_id":"17422","extern":"1","user_id":"2DF688A6-F248-11E8-B48F-1D18A9856A87","publication_identifier":{"eissn":["1741-3176"],"issn":["0278-3649"]},"type":"journal_article","article_type":"original","scopus_import":"1","volume":40,"date_created":"2024-08-12T10:01:27Z","doi":"10.1177/0278364921992788","citation":{"ista":"Nilles AQ, Ren Y, Becerra I, LaValle SM. 2021. A visibility-based approach to computing non-deterministic bouncing strategies. The International Journal of Robotics Research. 40(10–11), 1196–1211.","ieee":"A. Q. Nilles, Y. Ren, I. Becerra, and S. M. LaValle, “A visibility-based approach to computing non-deterministic bouncing strategies,” <i>The International Journal of Robotics Research</i>, vol. 40, no. 10–11. SAGE Publications, pp. 1196–1211, 2021.","apa":"Nilles, A. Q., Ren, Y., Becerra, I., &#38; LaValle, S. M. (2021). A visibility-based approach to computing non-deterministic bouncing strategies. <i>The International Journal of Robotics Research</i>. SAGE Publications. <a href=\"https://doi.org/10.1177/0278364921992788\">https://doi.org/10.1177/0278364921992788</a>","mla":"Nilles, Alexandra Q., et al. “A Visibility-Based Approach to Computing Non-Deterministic Bouncing Strategies.” <i>The International Journal of Robotics Research</i>, vol. 40, no. 10–11, SAGE Publications, 2021, pp. 1196–211, doi:<a href=\"https://doi.org/10.1177/0278364921992788\">10.1177/0278364921992788</a>.","chicago":"Nilles, Alexandra Q, Yingying Ren, Israel Becerra, and Steven M LaValle. “A Visibility-Based Approach to Computing Non-Deterministic Bouncing Strategies.” <i>The International Journal of Robotics Research</i>. SAGE Publications, 2021. <a href=\"https://doi.org/10.1177/0278364921992788\">https://doi.org/10.1177/0278364921992788</a>.","ama":"Nilles AQ, Ren Y, Becerra I, LaValle SM. A visibility-based approach to computing non-deterministic bouncing strategies. <i>The International Journal of Robotics Research</i>. 2021;40(10-11):1196-1211. doi:<a href=\"https://doi.org/10.1177/0278364921992788\">10.1177/0278364921992788</a>","short":"A.Q. Nilles, Y. Ren, I. Becerra, S.M. LaValle, The International Journal of Robotics Research 40 (2021) 1196–1211."},"article_processing_charge":"No","quality_controlled":"1","publication_status":"published","language":[{"iso":"eng"}],"month":"09","title":"A visibility-based approach to computing non-deterministic bouncing strategies","oa":1,"oa_version":"Published Version","issue":"10-11"},{"date_created":"2019-02-13T09:36:20Z","doi":"10.1177/0278364918808367","type":"journal_article","arxiv":1,"volume":37,"scopus_import":"1","user_id":"c635000d-4b10-11ee-a964-aac5a93f6ac1","publication_identifier":{"eissn":["1741-3176"],"issn":["0278-3649"]},"oa_version":"Preprint","issue":"12","oa":1,"language":[{"iso":"eng"}],"title":"Proving the existence of loops in robot trajectories","month":"10","publication_status":"published","isi":1,"citation":{"short":"S. Rohou, P. Franek, C. Aubry, L. Jaulin, The International Journal of Robotics Research 37 (2018) 1500–1516.","ama":"Rohou S, Franek P, Aubry C, Jaulin L. Proving the existence of loops in robot trajectories. <i>The International Journal of Robotics Research</i>. 2018;37(12):1500-1516. doi:<a href=\"https://doi.org/10.1177/0278364918808367\">10.1177/0278364918808367</a>","mla":"Rohou, Simon, et al. “Proving the Existence of Loops in Robot Trajectories.” <i>The International Journal of Robotics Research</i>, vol. 37, no. 12, SAGE Publications, 2018, pp. 1500–16, doi:<a href=\"https://doi.org/10.1177/0278364918808367\">10.1177/0278364918808367</a>.","chicago":"Rohou, Simon, Peter Franek, Clément Aubry, and Luc Jaulin. “Proving the Existence of Loops in Robot Trajectories.” <i>The International Journal of Robotics Research</i>. SAGE Publications, 2018. <a href=\"https://doi.org/10.1177/0278364918808367\">https://doi.org/10.1177/0278364918808367</a>.","apa":"Rohou, S., Franek, P., Aubry, C., &#38; Jaulin, L. (2018). Proving the existence of loops in robot trajectories. <i>The International Journal of Robotics Research</i>. SAGE Publications. <a href=\"https://doi.org/10.1177/0278364918808367\">https://doi.org/10.1177/0278364918808367</a>","ieee":"S. Rohou, P. Franek, C. Aubry, and L. Jaulin, “Proving the existence of loops in robot trajectories,” <i>The International Journal of Robotics Research</i>, vol. 37, no. 12. SAGE Publications, pp. 1500–1516, 2018.","ista":"Rohou S, Franek P, Aubry C, Jaulin L. 2018. Proving the existence of loops in robot trajectories. The International Journal of Robotics Research. 37(12), 1500–1516."},"article_processing_charge":"No","quality_controlled":"1","date_published":"2018-10-24T00:00:00Z","day":"24","intvolume":"        37","status":"public","external_id":{"arxiv":["1712.01341"],"isi":["000456881100004"]},"date_updated":"2023-09-19T10:41:59Z","department":[{"_id":"UlWa"}],"publication":"The International Journal of Robotics Research","_id":"5960","main_file_link":[{"url":"https://arxiv.org/abs/1712.01341","open_access":"1"}],"year":"2018","page":"1500-1516","author":[{"last_name":"Rohou","first_name":"Simon","full_name":"Rohou, Simon"},{"last_name":"Franek","orcid":"0000-0001-8878-8397","id":"473294AE-F248-11E8-B48F-1D18A9856A87","full_name":"Franek, Peter","first_name":"Peter"},{"full_name":"Aubry, Clément","first_name":"Clément","last_name":"Aubry"},{"last_name":"Jaulin","full_name":"Jaulin, Luc","first_name":"Luc"}],"abstract":[{"lang":"eng","text":"In this paper we present a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key points in simultaneous localization and mapping (SLAM) methods, especially in homogeneous environments with difficult scenes recognitions. The proposed approach is generic and could be coupled with conventional SLAM algorithms to reliably reduce their computing burden, thus improving the localization and mapping processes in the most challenging environments such as unexplored underwater extents. To prove that a robot performed a loop whatever the uncertainties in its evolution, we employ the notion of topological degree that originates in the field of differential topology. We show that a verification tool based on the topological degree is an optimal method for proving robot loops. This is demonstrated both on datasets from real missions involving autonomous underwater vehicles and by a mathematical discussion."}],"publisher":"SAGE Publications"}]