Improving motion-planning algorithms by efficient nearest-neighbor searching

IEEE Transactions on Robotics

Volumn 23, Issue 1, 2007, Pages 151-157

  Yershova, Anna ^a   LaValle, Steven M ^a  

^a University of Illinois at Urbana Champaign   (United States)

Author keywords

Configuration space; Kd trees; Nearest neighbor (NN) searching; Probabilistic roadmaps (PRMs); Rapidly exploring random trees (RRTs); Sampling based motion planning

Indexed keywords

ALGORITHMS; MAPS; TOPOLOGY; TREES (MATHEMATICS);

BRUTE-FORCE APPROACH; CARTESIAN PRODUCTS; NEAREST-NEIGHBOR SEARCHING; PROBABILISTIC ROADMAPS;

MOTION PLANNING;

EID: 33947427085     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2006.886840     Document Type: Article

References (31)

1. P. K. Agarwal, L. J. Guibas, H. Edelsbrunner, J. Erickson, M. Isard, S. Har-Peled, J. Hershberger, C. Jensen, L. Kavraki, P. Koehl, M. Lin, D. Manocha, D. Metaxas, B. Mirtich, D. Mount, S. Muthukrishnan, D. Pai, E. Sacks, J. Snoeyink, S. Suri, and O. Wolefson, "Algorithmic issues in modeling motion," ACM Comput. Surv., vol. 34, no. 4, pp. 550-572, 2002.
2. N. M. Amato and Y.Wu, "A randomized roadmap method for path and manipulation planning," in Proc. IEEE Int. Conf. Robot. Autom., 1996, pp. 113-120.
3. S. Arya and D. M. Mount, "Algorithm for fast vector quantization," in Proc. IEEE Data Compress. Conf., Mar. 1993, pp. 381-390.
4. S. Arya and D. M. Mount, "Approximate nearest neighbor queries in fixed dimensions," in Proc. ACM-SIAM Symp. Discr. Algorithms, 1993, pp. 271-280.
5. S. Arya, D. M. Mount, N. S. Netanyahu, R. Silverman, and A. Y. Wu, "An optimal algorithm for approximate nearest neighbor searching fixed dimensions," J. ACM, vol. 45, no. 6, pp. 891-923, 1998.
6. J. L. Bentley and J. Saxe, "Decomposable searching problems I: Static to dynamic transformation," J. Algorithms, vol. 1, pp. 301-358, 1980.
7. A. Beygelzimer, S. Kakade, and J. Langford, "Cover trees for nearest neighbor," 2004 [Online]. Available: Http://www.cs.rochester.edu/ ~tibeygel/cover_tree.ps
8. K. L. Clarkson, "Nearest neighbor queries in metric spaces," Discr. Comput. Geom., vol. 22, pp. 63-93, 1999.
9. K. L. Clarkson, "Nearest neighbor searching in metric spaces: Experimental results for sb(S)," 2003 [Online].Available: Http:// cm.bell-labs.com/who/clarkson/Msb/readme.html
10. K. L. Clarkson,, "Nearest-neighbor searching and metric space dimension," 2005 [Online]. Available: Http://cm.bell-labs.com/who/ clarkson/nn_survey/b.pdf
11. M. Datar, N. Immorlica, P. Indyk, and V. S. Mirrokni, "Locality-sensitive hashing scheme based on p-stable distributions," in Proc. 20th Annu. Symp. Comput. Geom., New York, NY, 2004, pp. 253-262.
12. M. de Berg, M. van Kreveld, M. Overmars, and O. Schwarzkopf, Computational Geometry: Algorithms and Applications. Berlin, Germany: Springer, 1997.
13. E. Frazzoli, M. A. Dahleh, and E. Feron, "Robust hybrid control for autonomous vehicles motion planning," Mass. Inst. Technol. Lab. Inf. and Decision Syst., Cambridge, MA, Tech. Rep. LIDS-P-2468, 1999.
14. J. H. Friedman, J. L. Bentley, and R. A. Finkel, "An algorithm for finding best matches in logarithmic expected time," ACM Trans. Math. Softw., vol. 3, no. 3, pp. 209-226, Sep. 1977.
15. G. R. Hjaltason and H. Samet, "Index-driven similarity search in metric spaces," ACMTrans. Database Syst., vol. 28, no. 4, pp. 517-580, 2003.
16. P. Indyk, "Nearest neighbors in high-dimensional spaces," in Handbook of Discrete and Computational Geometry, J. E. Goodman and J. O'Rourke, Eds., 2rd ed. Boca Raton, FL: CRC, 2004, ch. 39.
17. P. Indyk and R. Motwani, "Approximate nearest neighbors: Towards removing the curse of dimensionality," in Proc. 30th Ann. ACM Symp. Theory Comput., 1998, pp. 604-613.
18. L. E. Kavraki, P. Svestka, J.-C. Latombe, and M. H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Trans. Robot. Autom., vol. 12, no. 4, pp. 566-580, Jun. 1996.
19. J. M. Kleinberg, "Two algorithms for nearest-neighbor search in high dimensions," in Proc. ACM Symp. Theory Comput., May 1997, pp. 599-608.
20. R. Krauthgamer and J. R. Lee, "Navigating nets: Simple algorithms for proximity search," in Proc. 15th Annu. ACM-SIAM Symp. Discr. Algorithms, 2004, pp. 798-807.
21. J. J. Kuffner and S. M. LaValle, "RRT-connect: An efficient approach to single-query path planning," in Proc. IEEE Int. Conf. Robot. Autom., 2000, pp. 995-1001.
22. J. Kuffner, "Effective sampling and distance metrics for 3D rigid body path planning," in Proc. IEEE Int. Conf. Robot. Autom., May 2004, pp. 3993-3998.
23. S. M. LaValle, "MSL: Motion Strategy Library," [Online]. Available: http://msl.cs.uiuc.edu/msl/
24. S. M. LaValle, Rapidly-exploring random trees: A new tool for path planning Iowa State Univ., Comput. Sci. Dept., Ames, IA, TR 98-11, 1998.
25. S. M. LaValle, "Planning algorithms," 2004 [Online]. Available: Http://msl.cs.uiuc.edu/planning/
26. S. M. LaValle and J. J. Kuffner, "Randomized kinodynamic planning," in Proc. IEEE Int. Conf. Robot. Autom., 1999, pp. 473-479.
27. S. M. LaValle, "Rapidly-exploring random trees: Progress and prospects," in Proc. Workshop Algorithmic Found. Robot., 2000, pp. 293-308.
28. D. M. Mount, "ANN Programming Manual. Technical Report," Univ. Maryland, Dept. Comput. Sci., College Park, MD, 1998.
29. M. H. Overmars and J. van Leeuwen, "Dynamic multidimensional data structures based on quad- and kd-trees," Acta Informatica, vol. 17, pp. 267-285, 1982.
30. R. L. Sproull, "Refinements to nearest-neighbor searching in k-dimensional trees," Algorithmica, vol. 6, pp. 579-589, 1991.
31. A. Yershova, "MPNN: Nearest Neighbor Library for Motion Planning," 2005 [Online]. Available: Http://msl.cs.uiuc.edu/_tiyershova/MPNN/MPNN.htm