Finding narrow passages with probabilistic roadmaps: The small step retraction method

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 622-627

  Saha, Mitul ^a   Latombe, Jean Claude ^a  

^a Stanford University   (United States)

Author keywords

Narrow passages; Path planning; Probabilistic roadmap; Small step retraction

Indexed keywords

MOTION PLANNING; PLANNING; REPAIR;

FREE SPACES; MEDIAL AXIS; NARROW PASSAGES; PROBABILISTIC ROAD MAPS; PROBABILISTIC ROADMAP; REPAIR STRATEGY; ROBOT CONFIGURATIONS; SMALL-STEP RETRACTION;

INTELLIGENT ROBOTS;

EID: 79957971363     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545606     Document Type: Conference Paper

References (25)

1. M. Akinc, K.E. Bekris, B.Y. Chen, A.M. Ladd, E. Plaku, and L.E. Kavraki. Probabilistic Roadmaps of Trees for Parallel Computation of Multiple Query Roadmaps. Proc 11th Int. Symp. Robotics Research, Siena, Italy, Oct. 19-22, 2003.
2. N.M. Amato, O.B. Bayazit, L.K. Dale, C. Jones and D. Vallejo. OBPRM: An Obstacle-Based PRM for 3D Workspace. In P.K. Agarwal et al. (eds.), Robotics: The Algorithmic Perspective, A K Peters, Natick, MA, pp. 155-168, 1998.
3. B. Baginski. Local Motion Planning for Manipulators Based on Shrinking and Growing Geometry Models. Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, MN, pp. 3303-3308, 1997.
4. O.B. Bayazit. Solving Motion Planning Problems by Iterative Relaxation of Constraints. Ph.D. Thesis, Dept. of Computer Science, Texas A&M University, College Station, Texas, U.S.A., May 2003.
5. V. Boor, M.H. Overmars, and A.F. van der Strappen. The Gaussian Sampling Strategy for Probabilistic Roadmap Planners. Proc. IEEE Int. Conf. on Robotics and Automation, Detroit, MI, pp. 1018-1023, 1999.
6. Y.C. Chang, J. M. Pinilla, K. Ramaswami, and F. Prinz. Near Parallel Computation of MAT of 3D Polyhedra. In preparation, 2005.
7. J. Cohen, M. Lin, D. Manocha, and M. Ponamgi. I-Collide: An Interactive and Exact Collision Detection System for Large Scale Environments. Proc. ACM Interactive 3D Graphics Conf., pp. 189-196, 1995.
8. J. Cortés, T. Siméon, and J.P. Laumond. A Random Loop Generator for Planning the Motions of Closed Kinematic Chains Using PRM Methods. Proc. IEEE Int. Conf. Robotics and Automation, pp. 2141-2146, 2002. (Pubitemid 34916557)
9. S. Gottschalk, M. Lin, and D. Manocha. OBB-Tree: A Hierarchical Structure for Rapid Interference Detection. Proc. ACM SIGGRAPH'96, pp. 171-180, 1996.
10. L. Guibas, C. Holleman, and L. Kavraki. A Probabilistic Roadmap Planner for Flexible Objects with a Workspace Medial-Axis Based Sampling Approach. Proc. IEEE Int. Conf. Intelligent Robots and Systems, 1999.
11. K.E. Hoff III, T. Culver, J. Keyser, M. Lin, and D. Manocha. Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams. Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, CA, April 2000.
12. C. Holleman and L. Kavraki. A Framework for Using the Workspace Medial Axis in PRM Planners, Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, CA, pp. 1408-1413, April 2000.
13. D. Hsu, T. Jiang, J. Reif, and Z. Sun. The Bridge Test for Sampling Narrow Passages with Probabilistic Roadmap Planners. Proc. IEEE Int. Conf. Robotics and Automation, pp. 4420-4426, 2003.
14. D. Hsu, L. Kavraki, J.C. Latombe, R. Motwani, and S. Sorkin. On Finding Narrow Passages with Probabilistic Roadmap Planners. In P.K. Agarwal et al. (eds.), Robotics: The Algorithmic Perspective, A K Peters, Natick, MA, pp. 151-153, 1998.
15. D. Hsu, J.C. Latombe and R. Motwani. Path Planning in Expansive Configuration Spaces. Int. J. Comp. Geometry and Applications, 9(4- 5):495-512, 1999.
16. P. Isto, Constructing Probabilistic Roadmaps with Powerful Local Planning and Path Optimization, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2323-2328, 2002. (Pubitemid 35438155)
17. L.E. Kavraki, M. Kolountzakis, and J.C. Latombe. Analysis of Probabilistic Roadmaps for Path Planning. IEEE Tr. Robotics and Automation, 14(1):166-171, Feb.1998. (Pubitemid 128742164)
18. L.E. Kavraki, P. Svestka, J.C. Latombe, and M.H. Overmars. Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces, IEEE Tr. Robotics and Automation, 12(4):566- 580, 1996. (Pubitemid 126774162)
19. J. M. Lien, S. L. Thomas, and N. M. Amato. A General Framework for Sampling on the Medial Axis of the Free Space. Proc. IEEE Int. Conf. Robotics and Automation, 2003.
20. M. Lin and D. Manocha. Collision and Proximity Queries. In J.E. Goodman and J. O'Rourke (eds.), Handbook of Discrete and Computational Geometry, 2nd edition, Chapter 35, pp. 787-807, Chapman&Hall/CRC, 2004.
21. S. Quinlan. Efficient Distance Computation Between Non-Convex Objects. Proc. IEEE Int. Conf. Robotics and Automation, pp. 3324-3329, 1994.
22. M. Saha, J.C. Latombe, Y.C. Chang, F. Prinz. Finding Narrow Passages with Probabilistic Roadmaps: The Small-Step Retraction Method. Manuscript submitted for publication, 2004.
23. G. Sánchez-Ante and J.C. Latombe. A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking. Int. J. Robotics Research, 21(1):5-26, Jan. 2002.
24. K. Yamane, J.J. Kuffner, and J.K. Hodgins. Synthesizing Animations of Human Manipulation Tasks. Proc. SIGGRAPH'04, 2004.
25. S.A. Wilmarth, N.M. Amato, and P.F. Stiller. MAPRM: A Probabilistic Roadmap Planner with Sampling on the Medial Axis of the Free Space. Proc. IEEE Int. Conf. Robotics and Automation Detroit, MI, pp. 1024- 1031, 1999.