Publications [#236966] of John H. Reif

Journal articles or Book chapters PUBLISHED

1. Reif, JH; Tate, SR, Approximate kinodynamic planning using L2-norm dynamic bounds, Computers and Mathematics with Applications, vol. 27 no. 5 (January, 1994), pp. 29-44, Elsevier BV, ISSN 0898-1221 [doi]
   (last updated on 2026/01/14)

   Abstract:
   In this paper we address the issue of kinodynamic motion planning. Given a point that moves with bounded acceleration and velocity, we wish to find the time-optimal trajectory from a start state to a goal state (a state consists of both a position and a velocity). As finding exact optimal solutions to this problem seems very hard, we present a provably good approximation algorithm using the L2 norm to bound acceleration and velocity. Our results are an extension of the earlier work of Canny, Donald, Reif, and Xavier [1], who present similar results where the dynamics bounds can be examined in each dimension independently (they use the L∞ norm to bound acceleration and velocity). © 1994.