{"id":631,"date":"2013-01-11T11:07:26","date_gmt":"2013-01-11T10:07:26","guid":{"rendered":"https:\/\/project.inria.fr\/plasma-lab\/?page_id=631"},"modified":"2014-12-16T18:14:42","modified_gmt":"2014-12-16T17:14:42","slug":"motion-planning","status":"publish","type":"page","link":"https:\/\/project.inria.fr\/plasma-lab\/examples\/motion-planning\/","title":{"rendered":"Motion Planning"},"content":{"rendered":"<p><\/p>\n<p style=\"text-align: justify;\">PLASMA-lab has been integrated in the <strong>DALi project<\/strong> in a novel motion planning application of SMC. This work was done by\u00a0<em>Alessio Colombo, Axel Legay, Luigi Palopoli <\/em>and<em> Sean Sedwards<\/em>.<br \/>\nDALi aims to develop an autonomous device to help those with impaired ability to negotiate complex crowded environments (e.g. shopping malls). High level constraints and the objectives of the user are expressed in temporal logic, while low level behaviour is predicted by the &#8216;social force model&#8217;. The e\u001efficiency and \u001dexibility of <strong>PLASMA-lab<\/strong> allow it to be <strong>used in the real time control loop of the motion planner<\/strong>.<\/p>\n<div>\n<div id=\"attachment_632\" style=\"width: 310px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/project.inria.fr\/plasma-lab\/files\/2013\/01\/dali1.png\"><img loading=\"lazy\" decoding=\"async\" aria-describedby=\"caption-attachment-632\" class=\"size-medium wp-image-632\" title=\"dali\" alt=\"\" src=\"https:\/\/project.inria.fr\/plasma-lab\/files\/2013\/01\/dali1-300x248.png\" width=\"300\" height=\"248\" srcset=\"https:\/\/project.inria.fr\/plasma-lab\/files\/2013\/01\/dali1-300x248.png 300w, https:\/\/project.inria.fr\/plasma-lab\/files\/2013\/01\/dali1.png 625w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><p id=\"caption-attachment-632\" class=\"wp-caption-text\">Control loop of DALI motion planner<\/p><\/div>\n<\/div>\n<p style=\"text-align: justify;\">The algorithm uses static information (the physical layout) and dynamical information provided by sensors (the position of other people and temporary obstructions) to quantify the performance of hypothesised alternative trajectories.<br \/>\n<strong>PLASMA-lab was integrated with MATLAB<\/strong> to speed the development of the prototype algorithm. <strong>The fi\u001cnal version has been implemented on embedded hardware and \u001cfinds the optimum trajectory in a fraction of a second.<\/strong><\/p>\n<blockquote><p><iframe loading=\"lazy\" src=\"\/\/www.youtube.com\/embed\/hf0zSomZbSo\" height=\"315\" width=\"560\" allowfullscreen=\"\" frameborder=\"0\"><\/iframe><\/p>\n<p style=\"text-align: center;\"><em>Motion planning, Social Force Model Only, Alessio Colombo, University of Trento<br \/>\n<\/em><\/p>\n<\/blockquote>\n<blockquote><p><iframe loading=\"lazy\" src=\"\/\/www.youtube.com\/embed\/-FuEGqSWAJM\" height=\"315\" width=\"560\" allowfullscreen=\"\" frameborder=\"0\"><\/iframe><\/p>\n<p style=\"text-align: center;\"><em>Motion planning, Plasma Lab and Social Force Model, Alessio Colombo, University of Trento<br \/>\n<\/em><\/p>\n<\/blockquote>\n<blockquote><p><iframe loading=\"lazy\" src=\"\/\/www.youtube.com\/embed\/FrBieL21iHY\" height=\"315\" width=\"560\" allowfullscreen=\"\" frameborder=\"0\"><\/iframe><\/p>\n<p style=\"text-align: center;\"><em>DALi Final Review<br \/>\n<\/em><\/p>\n<\/blockquote>\n<p style=\"text-align: justify;\"><a href=\"https:\/\/project.inria.fr\/plasma-lab\/files\/2012\/11\/dali_small.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-154\" style=\"border: 0px none;\" title=\"dali_small\" alt=\"\" src=\"https:\/\/project.inria.fr\/plasma-lab\/files\/2012\/11\/dali_small.png\" width=\"77\" height=\"95\" \/><\/a><\/p>\n<p><\/p>","protected":false},"excerpt":{"rendered":"<p>PLASMA-lab has been integrated in the DALi project in a novel motion planning application of SMC. This work was done by\u00a0Alessio Colombo, Axel Legay, Luigi Palopoli and Sean Sedwards. DALi aims to develop an autonomous device to help those with impaired ability to negotiate complex crowded environments (e.g. shopping malls).\u2026<\/p>\n<p> <a class=\"continue-reading-link\" href=\"https:\/\/project.inria.fr\/plasma-lab\/examples\/motion-planning\/\"><span>Continue reading<\/span><i class=\"crycon-right-dir\"><\/i><\/a> <\/p>\n","protected":false},"author":234,"featured_media":0,"parent":236,"menu_order":0,"comment_status":"closed","ping_status":"open","template":"","meta":{"footnotes":""},"class_list":["post-631","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/project.inria.fr\/plasma-lab\/wp-json\/wp\/v2\/pages\/631","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/project.inria.fr\/plasma-lab\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/project.inria.fr\/plasma-lab\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/project.inria.fr\/plasma-lab\/wp-json\/wp\/v2\/users\/234"}],"replies":[{"embeddable":true,"href":"https:\/\/project.inria.fr\/plasma-lab\/wp-json\/wp\/v2\/comments?post=631"}],"version-history":[{"count":20,"href":"https:\/\/project.inria.fr\/plasma-lab\/wp-json\/wp\/v2\/pages\/631\/revisions"}],"predecessor-version":[{"id":1689,"href":"https:\/\/project.inria.fr\/plasma-lab\/wp-json\/wp\/v2\/pages\/631\/revisions\/1689"}],"up":[{"embeddable":true,"href":"https:\/\/project.inria.fr\/plasma-lab\/wp-json\/wp\/v2\/pages\/236"}],"wp:attachment":[{"href":"https:\/\/project.inria.fr\/plasma-lab\/wp-json\/wp\/v2\/media?parent=631"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}