@inproceedings {pub5796,
	title = {Instant prediction for reactive motions with planning. },
	author = {Hisashi Sugiura AND Herbert Jan{\ss}en AND Christian Goerick},
	year = {2009},
	abstract = {Reactive control and planning are complementary
methods in robot motion control. The advantage of planning
is the ability to find difficult solutions, optimize trajectories
globally and not getting stuck in local minima but at higher
computational cost. On the other hand, reactive control can
handle dynamic or uncertain environments at low computa-
tional cost, but may get stuck in local minima.
In this paper, we propose a new approach to integrate both
reactive control and planning using a short time prediction.
The system is mainly composed of a predictor, a planner and a
reactive controller. The system uses the planner to modify the
target for the reactive controller. The predictor simulates the
robot future states and evaluates the reactive motion to trigger
the planner in advance.
The latency due to the high computational costs for planning
is compensated since the motion is already simulated, therefore,
the resulting motion is smoother than without the predictor.
When the system{\textquoteright}s environment becomes more uncertain and
dynamic, the system works reactively and iterates faster so that
the system adapts to the environment automatically.
We tested the scheme in a simulator and realized it on our
humanoid robot ASIMO.},
	publisher = {IEEE},
	booktitle = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems }
}