RiskRRT-based planning for interception of moving objects in complex environments

Mario GarzÓn, Efstathios P. Fotiadis, Antonio Barrientos, Anne Spalanzani

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

2 Citations (Scopus)


This paper presents a new approach for the interception of moving objects using UGVs in large complex environments. The planning for interception is based on the Risk-RRT algorithm. Several modifications have been made to the base algorithm to enhance its ability to move in uncertain environments. The planner is integrated with a navigation architecture. The full system is capable of parallel on-line planning and following of the path. It performs the interception and at the same time it avoids static and dynamic obstacles. Several tests, both in simulation and with real world robots, were carried out showing the effectiveness of the proposed system.

Original languageEnglish
Title of host publicationROBOT2013
Subtitle of host publication1st Iberian Robotics Conference - Advances in Robotics
EditorsAlberto Sanfeliu, Manuel Ferre, Manuel A. Armada, Manuel A. Armada
Number of pages15
ISBN (Electronic)9783319036526
Publication statusPublished - 1 Jan 2014
Externally publishedYes
EventROBOT 2013: 1st Iberian Robotics Conference - Madrid, Spain
Duration: 28 Nov 201329 Nov 2013

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357


ConferenceROBOT 2013: 1st Iberian Robotics Conference


  • Moving Objects Interception
  • Planning for Interception
  • RiskRRT
  • UGV Navigation


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