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William Silva

dblp:181/4118 · DBLP profile ↗
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1ranked-venue papers
0as first author
0since 2021 · last 2016
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1Systems, architecture and hardware · 1

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 87% Legged, aerial and field robots · 13%

Topics — the 3 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control › motion planning
anytime planning
0.212016
Any-time path-planning: Time-varying wind field + moving obstacles · ICRA 2016
Robotics › Motion planning and robot control
path planning
0.212016
Any-time path-planning: Time-varying wind field + moving obstacles · ICRA 2016
Robotics › Legged, aerial and field robots › aerial robots
UAV navigation
0.112016
Any-time path-planning: Time-varying wind field + moving obstacles · ICRA 2016

Methods — techniques the papers use, named apart from their topics

space-time lattice · 0.2heuristic cost deflation · 0.2a* search · 0.2
YearPublicationVenuePosition
2016 Any-time path-planning: Time-varying wind field + moving obstacles
abstract
We consider the problem of real-time path-planning in a spatiotemporally varying wind-field with moving obstacles. We are provided with changing wind and obstacle predictions along a (D + 1)-dimensional space-time lattice. We present an Any-Time algorithm that quickly finds an αβ-suboptimal solution (a path that is not longer than αβ times the optimal time-length), and then improves α and β while planning time remains or until new wind/obstacle predictions trigger a restart. The factor α comes from an α-overestimate of the A*-like cost heuristic. β is proportional to motion modeling error. Any-Time performance is achieved by: (1) improving the connectivity model of the environment from a discrete graph to a continuous cost-field (decreasing β); (2) using the established method of incrementally deflating α. Our method was deployed as the global planner on a fixed-wing unmanned aircraft system that uses Doppler radar and atmospheric models for online real-time wind sensing and prediction. We compare its performance vs. other state-of-the-art methods in simulated environments.
Michael W. Otte, William Silva, Eric W. Frew
ICRA2