Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion

摘要: Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents novel method for planning multi-modal trajectories using approximate dynamic programming. We formulate this problem as shortest-path search through state-space graph, where the edge cost is assigned optimal transport along each segment. approximated from batches offline trajectory optimizations, allows effects vehicle under-actuation and constraints be approximately captured tractable way. Our illustrated on hybrid double-integrator, an amphibious flying-driving drone, showing practicality approach.