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Decomposition algorithm for global reachability analysis on a time-varying graph with an application to planetary exploration

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dc.contributor.author Kuwata, Yoshiaki
dc.contributor.author Blackmore, Lars
dc.contributor.author Wolf, Michael
dc.contributor.author Fathpour, Nanaz
dc.contributor.author Newman, Claire
dc.contributor.author Elfes, Alberto
dc.date.accessioned 2014-09-03T21:51:09Z
dc.date.available 2014-09-03T21:51:09Z
dc.date.issued 2009-10-11
dc.identifier.citation 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, Missouri, October 11-15, 2009 en_US
dc.identifier.clearanceno 09-2574
dc.identifier.uri http://hdl.handle.net/2014/44672
dc.description.abstract Hot air (Montgolfiere) balloons represent a promising vehicle system for possible future exploration of planets and moons with thick atmospheres such as Venus and Titan. To go to a desired location, this vehicle can primarily use the horizontal wind that varies with altitude, with a small help of its own actuation. A main challenge is how to plan such trajectory in a highly nonlinear and time-varying wind field. This paper poses this trajectory planning as a graph search on the space-time grid and addresses its computational aspects. When capturing various time scales involved in the wind field over the duration of long exploration mission, the size of the graph becomes excessively large. We show that the adjacency matrix of the graph is block-triangular, and by exploiting this structure, we decompose the large planning problem into several smaller subproblems, whose memory requirement stays almost constant as the problem size grows. The approach is demonstrated on a global reachability analysis of a possible Titan mission scenario. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2009 en_US
dc.subject Dijkstra’s algorithm en_US
dc.subject Block-triangular matrix en_US
dc.title Decomposition algorithm for global reachability analysis on a time-varying graph with an application to planetary exploration en_US
dc.type Presentation en_US


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