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Company MIT Press / U.S. Army Research Laboratory / / Country United States / / / Facility The University of Sydney / U.S. Army Research Laboratory / In complex / Massachusetts Institute of Technology / / IndustryTerm grid search / deliberative planning algorithms / image processing / reactive obstacle avoidance algorithms / decision making algorithms / reactive algorithms / / Organization U.S. Army Research Office / United States Army / University of Sydney / Laboratory for Manufacturing and Productivity / Massachusetts Institute of Technology / / Person Karl Iagnemma / Sisir Karumanchi / Equation / / Position A∗ planner / generalized reactive controller / level planner / The A∗ planner / proportional speed controller / constraint-based controller / Forward / constraint-based reactive controller / reactive controller / controller / attraction-repulsion reactive controller / / Product C-0101 / / ProvinceOrState Massachusetts / / PublishedMedium The International Journal / Machine Learning / / Technology DWA algorithms / GHN algorithm / proposed algorithm / generalizing decision making algorithms / reactive obstacle avoidance algorithms / Planning algorithms / former algorithm / Machine Learning / simulation / A. Mobility Erosion Planning algorithms / deliberative planning algorithms / image processing / decision making algorithms / / SocialTag 
Reactive control in environments with hard and soft hazards Sisir Karumanchi, Karl Iagnemma Abstract— In this paper we present a generalization of reactive obstacle avoidance algorithms for mobile robots operating amon