A delaunay triangulation based node connection strategy for probabilistic roadmap planners

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 1, 2004, Pages 908-913

  Huang, Yifeng ^a   Gupta, Kamal ^a  

^a SIMON FRASER UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

DELAUNAY TRIANGULATION; NEAREST NEIGHBOURHOOD CONNECTION (NNC); PROBABILISTIC ROADMAP (PRM) PLANNERS; ROADMAP CONSTRUCTION;

ALGORITHMS; COMPUTATIONAL COMPLEXITY; COMPUTATIONAL GEOMETRY; MOTION PLANNING; PROBABILITY; SET THEORY;

ROBOTICS;

EID: 3042582301     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. L.E.Kavraki, P.Svestka, J.-C.Latombe, and M.H.Overmars, Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces, IEEE Transactions on Robotics and Automation, Volume: 12, Issue: 4, pages: 566-580, June 1996.
2. C.Nissoux, T.Simeon and J-P.Laumond, Visibility Based Probabilistic Roadmap, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Volume: 3, 17-21, pages: 1316-1321, Oct. 1999.
3. Valerie Boor, Mark H. Overmars, A. Frank van der Stappen, The Gaussian Sampling Strategy for Probabilistic Roadmap Planners, Proceedings of the IEEE International Conference on Robotics and Automation, Volume: 2, 10-15, pages: 1018-1023, May 1999.
4. David Hsu, Lydia E. Kavraki, Jean-Claude Latombe, Rajeev Motwani and Stephen Sorkin, On Finding Narrow Passages with Probabilistic Roadmap Planners, in: P.K. Agarwal, L.E. Kavraki, M.T. Mason, editors, Robotics: The algorithmic perspective, pages: 141-154. A.K. Peters, Natick, 1998.
5. David Hsu, Tingling Jiang, John Reif, Zheng Sun, The Bridge Test for Sampling Narrow Passages with Probabilistc Roadmap Planners. Proceedings of the IEEE International Conference on Robotics and Automation, Volume: 3, 14-19, pages: 4420-4426, Sept. 2003.
6. N.M. Amato, O.S. Bayazit, Lucia K.Dale, C. Jones, D. Vallejo, Choosing Good Distance Metrics and Local Planners for Probabilistic Roadmap Methods, IEEE Transactions on Robotics and Automation, Volume: 16, Issue: 4, pages: 442-447, Aug. 2000.
7. N.M, Amato, O.B. Bayazit, L.K. Dale, C. Jones and D. Vallejo, OBPRM: An obstacle-based PRM for 3D workspaces, in P.K. Agarwal et al., editors, Robotics: The Algorithmic Perspective: 1998 Workshop on the Algorithmic Foundations of Robotics, pages: 155-168. A.K. Peters, Wellesley, MA, 1998.
8. R.Bohlin and L.E. Kavraki. Path planning using Lazy PRM, Proceedings of the IEEE International Conference on Robotics and Automation, Volume: 1, 24-28, pages: 521-528, April 2000.
9. S.A. Wilmarth, N.M. Amato, and P.P. Stiller, MAPRM: A probabilistic roadmap planner with sampling on the medial axis of the free space, Proceedings of the IEEE International Conference on Robotics and Automation, Volume: 2, 10-15, pages: 1024-1031, May 1999.
10. Ian Gipson, Kamal Gupta, Michael Greenspan, MPK: An open extensible motion planning kernel. Journal of Robotic Systems, Volume: 18, Issue: 8, pages: 433-443, August 2001.
11. A. Pattekar, J. Cohen, T. Hudson, S. Gottschalk, M. Lin, D. Manocha, V-COLLEDE User's Manual - Release 1.1. Department of Computer Science, University of North Carolina at Chapel Hill, 1998.
12. D. F. Watsou, Computing the n-dimensional Delaunay tessellation with application to Voronoi Polytopes, The Computer Journal, Volume: 24, No: 2, pages: 167-171, 1981.
13. Kurt Mehlhorn, M. Seel, Delaunay Triangulations in higher-dimensional Space, Implementation report, 1998. [ONLINE] http://www.mpi-sb.mpg.de/LEDA/www/ leps/dd-geokenial.html
14. K. Fukuda, Frequently Asked Questions in Polyhedral Computation. [ONLINE]http://www.ifor.math.ethz.ch/staff/fukuda/polyfaq/polyfaq.html
15. Lucia Kathryn Dale, Optimization Techniques for Probabilistic Roadmaps, PhD thesis, Department of Computer Science, Texas AsM University, 2000.