A random sampling scheme for path planning

International Journal of Robotics Research

Volumn 16, Issue 6, 1997, Pages 759-774

  Barraquand, Jérôme ^a   Kavraki, Lydia ^b   Latombe, Jean Claude ^c   Motwani, Rajeev ^c   Li, Tsai Yen ^d   Raghavan, Prabhakar ^e  

^a Salomon Brothers International Ltd   (United Kingdom)

^b Rice University   (United States)

^c Stanford University   (United States)

^d NATIONAL CHENGCHI UNIVERSITY   (Taiwan)

^e IBM ALMADEN RESEARCH CENTER   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EFFICIENCY; FAILURE ANALYSIS; PROBABILITY; RANDOM PROCESSES; ROBOTS; SAMPLED DATA CONTROL SYSTEMS;

PATH PLANNERS;

MOTION PLANNING;

EID: 0031333526     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836499701600604     Document Type: Article

References (47)

1. Ahuactzin, J. M. 1994. Le Fil d'Ariane: Une Méthode de Planification Générale. Application à la Planification Automatique de Trajectoires. Thesis Dissertation. Grenoble, France: Institut National Polytechnique.
2. Arya, S., and Mount, D. M. 1995. Approximate range searching. In Proceedings of the ACM Symposium on Computational Geometry. Vancouver, Canada: ACM, pp. 172-181.
3. Barraquand, J., Langlois, B., and Latombe, J. C. 1992. Numerical potential field techniques for robot path planning. IEEE Trans. Syst. Man Cybernet, 22(2):224-241.
4. Barraquand, J., and Latombe, J. C. 1991. Robot motion planning: a distributed representation approach. Int. J. Robot. Res. 10(6):628-649.
5. Bessière, P., Mazer, E., and Ahuactzin, J. M. 1995. Planning in a continuous space with forbidden regions: the Ariadne's clew algorithm. In Goldberg, K. et al. (eds.) Algorithmic Foundations of Robotics. Wellesley, MA: A. K. Peters, pp. 39-47.
6. Canny, J. F. 1988. The Complexity of Robot Motion Planning, Cambridge, MA: MIT Press.
7. Challou, D., and Gini, M. 1995 (Nagoya, Japan). Parallel formulation of informed randomized search for robot motion planning problems. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 709-714.
8. Chang, H., and Li, T. Y. 1995 (Nagoya, Japan). Assembly maintainability study with motion planning. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 1012-1019.
9. Chen, P. C. 1995 (Nagoya, Japan). Adaptive path planning: algorithm and analysis. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 721-728.
10. Gilbert, E. G, Johnson, D. W., and Keerthi, S. S. 1988. A fast procedure for computing the distance between complex objects in three-dimensional space. IEEE J. Robot. Automat. 4(2):193-203.
11. Graux, L., Millies, P., Kociemba, P. L., and Langlois, B. 1992. Integration of a path generation algorithm into off-line programming of AIRBUS panels. SAE Technical Paper 922404, Aerospace Automated Fastening Conference and Exposition.
12. Halperin, D., Latombe, J. C., and Motwani, R. 1997. Dynamic maintenance of kinematic structures. In Laumond, J. P., and Overmars, M. (eds.) Algorithmic Foundations of Robotics. Wellesley, MA: A.K. Peters, pp. 155-170.
13. Hopcroft, J. E., Schwartz, J. T., and Sharir, M. 1984. On the complexity of motion planning for multiple independent objects: PSPACE-hardness of the "Warehouseman's Problem". Int. J. Robot. Res. 3(4):76-88.
14. Hopcroft, J. E., and Wilfong, G. T. 1986. Reducing multiple object motion planning to graph searching. SIAM J. Comput. 15(3):768-785.
15. Horsch, T., Schwarz, F., and Tolle, H. 1994 (San Diego, CA). Motion planning for many degrees of freedom-random reflections at C-space obstacles, In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 3318-3323.
16. Hwang, Y. K., and Chen, P. C. 1995 (Nagoya, Japan). A heuristic and complete planner for the classical mover's problem. In Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, pp. 729-736.
17. Joseph, D. A., and Plantiga, W. H. 1985 (Baltimore, MD). On the complexity of reachability and motion planning questions. In Proceedings of the First ACM Symposium on Computational Geometry. ACM, pp. 62-66.
18. Kavraki, L. 1995. Random networks in configuration space for fast path planning. Technical Report STAN-CS-TR-95-1535. Stanford, CA: Department of Computer Science.
19. Kavraki, L., Kolountzakis, M., and Latombe, J. C. 1996 (Minneapolis, MN). Analysis of probabilistic roadmaps for path planning. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 3020-3025.
20. Kavraki, L., and Latombe, J. C. 1994a (San Diego, CA). Randomized preprocessing of configuration space for fast path planning, In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 2138-2145.
21. Kavraki, L. and Latombe, J. C. 1994b (München). Randomized preprocessing of configuration space for path planning: articulated robots. In Proceedings of the IEEE Conference on Intelligent Robots and Systems. IEEE, pp. 1764-1771.
22. Kavraki, L., Latombe, J. C., Motwani, R., and Raghavan, P. 1994. Randomized query processing in robot motion planning. Technical Report STAN-CS-TR-94-1533. Stanford, CA: Department of Computer Science.
23. Kavraki, L., Latombe, J. C., Motwani, R., and Raghavan, P. 1995 (Las Vegas, NV). Randomized query processing in robot path planning, In Proceedings of the 27th Annual ACM Symposium on Theory of Computing. ACM, pp. 353-362.
24. Kavraki, L., Švestka, P., Latombe, J. C., and Overmars, M. 1996. Probabilistic roadmaps for fast path planning in high dimensional configuration spaces. IEEE Trans. Robot. Automat. 12(4):566-580.
25. Koditschek, D. E. 1987 (Raleigh, NC). Exact robot navigation by means of potential functions: some topological considerations. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 1-6.
26. Koga, Y., Kondo, K., Kuffner, J., and Latombe, J. C. 1994 (Las Vegas, NV). Planning motions with intentions. In Proceedings of SIGGRAPH'94. ACM, pp. 395-408.
27. Koga, Y., and Latombe, J. C. 1994 (San Diego, CA). On multi-arm manipulation planning. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 945-952.
28. Lamiraux, F., and Laumond, J. P. On the expected complexity of random path planning. Technical Report 95087. Toulouse, France: LAAS/CNRS.
29. Latombe, J. C. 1991. Robot Motion Planning, Boston, MA: Kluwer.
30. Latombe, J. C. 1995 (Milwaukee, WI). Controllability, recognizability, and complexity issues in robot motion planning. In Proceedings of the 36th Annual Symposium on Foundations of Computer Science, IEEE, pp. 484-500.
31. Li, T. Y., and Latombe, J. C. 1995 (Nagoya, Japan). Online motion planning for two robot arms in a dynamic environment. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 1048-1055.
32. Lin, M. C., and Canny, J. F. 1991 (Sacramento, CA). A fast algorithm for incremental distance calculation. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 1008-1014.
33. Lovász, L., and Young, N. 1991. Lecture Notes on Evasiveness of Graph Properties. Technical Report CS-TR-317-91. Princeton, NJ: Department of Computer Science.
34. Motwani, R., and Raghavan, P. 1995. Randomized Algorithms. Cambridge, UK: Cambridge University Press.
35. Overmars, M. 1992. A random approach to motion planning. Technical Report RUU-CS-92-32. Utrecht, The Netherlands: Department of Computer Science.
36. Overmars, M., and Švestka, P. 1995. A probabilistic learning approach to motion planning. In Goldberg, K. et al. (eds.) Algorithmic Foundations of Robotics. Wellesley, MA: A. K. Peters, pp. 19-37.
37. Ponamgi, M., Manocha, D., and Lin, M. C. 1995 (Salt Lake City, UT). Incremental algorithms for collision detection between solid models. In Proceedings of the 3rd ACM Symposium on Solid Modeling and Applications. ACM, pp. 293-304.
38. Preparata, F. P., and Shamos, M. I. 1985. Computational Geometry: An Introduction. New York: Springer-Verlag.
39. Quinlan, S. 1994 (San Diego, CA). Efficient distance computation between non-convex objects. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, pp. 3324-3330.
40. Reif, J. 1979. Complexity of the mover's problem and generalizations. In Proceedings of the IEEE Symposium on Foundations of Computer Science. IEEE, pp. 421-427.
41. Reif, J., and Sharir, M. 1985. Motion planning in the presence of moving obstacles. In Proceedings of the 25th IEEE Symposium on Foundations of Computer Science. IEEE, pp. 144-154.
42. Schwartz, J. T., and Sharir, M. 1983. On the "piano movers" problem: II. General techniques for computing topological properties of real algebraic manifolds. Adv. Appl. Math. 4:298-351.
43. Sekhavat, S., Švestka, P., Laumond, J. P., and Overmars, M. 1995. Probabilistic path planning for tractor-trailer robots. Technical Report 96007. Toulouse, France: LAAS/CNRS.
44. Švestka, P. 1993. A probabilistic approach to motion planning for car-like robots. Technical Report RUU-CS-93-18. Utrecht, The Netherlands: Department of Computer Science.
45. Thomas, F., and Torras, C. 1994 (San Diego, CA). Interference detection between non-convex polyhedra revisited with a practical aim. In Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, pp. 587-590.
46. Veach, E., and Guibas, L. J. 1995. Optimally combining sampling techniques for Monte Carlo rendering. In Proceedings of SIGGRAPH'95. ACM, pp. 419-428.
47. Zhu, X., and Gupta, K. 1993. On local minima and random search in robot motion planning. Technical Report. Vancouver, Canada: Simon Fraser University.