A sampling-based tree planner for systems with complex dynamics

IEEE Transactions on Robotics

Volumn 28, Issue 1, 2012, Pages 116-131

  Şucan, Ioan A ^a   Kavraki, Lydia E ^a  

^a Rice University   (United States)

Author keywords

Kinodynamic planning; physics simulation; planning with differential constraints; sampling based motion planning

Indexed keywords

COMPLEX DYNAMICS; COMPUTATIONAL GAINS; DISCRETIZATIONS; GRID-BASED; MOTION PLANNERS; MULTICORE TECHNOLOGY; ORDERS OF MAGNITUDE; PARALLEL IMPLEMENTATIONS; PHYSICS SIMULATION; SAMPLING-BASED; SAMPLING-BASED MOTION PLANNING; SHARED-MEMORY PARALLELS; STATE SPACE; STATE-OF-THE-ART METHODS; UNSOLVABLE PROBLEMS;

DYNAMICS; MOTION PLANNING;

IMPORTANCE SAMPLING;

EID: 84857032477     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2160466     Document Type: Article

References (60)

1. J. C. Latombe, Robot Motion Planning. Boston, MA: Kluwer, 1991.
2. H. Choset, K. M. Lynch, S. Hutchinson, G. A. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations. Cambridge, MA, MIT Press, Jun. 2005.
3. S. M. LaValle, Planning Algorithms. Cambridge, U.K.: Cambridge Univ. Press, 2006. [Online]. Available at http://planning.cs.uiuc.edu
4. J. T. Schwartz and M. Sharir, "On the piano movers' problem: General techniques for computing topological properties of real algebraic manifolds, " Commun. Pure Appl. Math., vol. 36, pp. 345-398, 1983.
5. L. Zhang, J. Pan, and D.Manocha, "Motion planning of human-like robots using constrained coordination, " in Proc. IEEE-RAS Int. Conf. Humanoid Robots , Paris, France, Dec. 2009, pp. 188-195.
6. J. C. Latombe, "Motion planning: A journey of robots, molecules, digital actors, and other artifacts, " Int. J. Robot. Res., vol. 18, no. 11, pp. 1119-1128, 1999.
7. S. Thomas, X. Tang, L. Tapia, and N. M. Amato, "Simulating protein motions with rigidity analysis, " J. Comput. Biol., vol. 14, no. 6, pp. 839-855, 2007. (Pubitemid 47221820)
8. M. S. Apaydin, D. L. Brutlag, C. Guestrin, D. Hsu, J. C. Latombe, and C. Varma, "Stochas tic roadmap simulation: An efficient representation and algorithm for analyzing molecular motion," J. Comput. Biol. , vol. 10, nos. 3-4, pp. 257-281, 2003. (Pubitemid 37372149)
9. E. Plaku, L. E. Kavraki, and M. Y. Vardi, "Hybrid systems: From verification to falsification by combining motion planning and discrete search, " Formal Methods Syst. Design, vol. 34, pp. 157-182, 2009.
10. S. Carpin, "Randomized motion planning-A tutorial," Int. J. Robot. Autom. , vol. 21, no. 3, pp. 184-196, 2006.
11. S. Lindemann and S. M. LaValle, "Current issues in sampling-based motion planning," in Proc. Robot. Res., 11th Int. Symp. , 2005, pp. 36-54.
12. I. A. Şucan and L. E. Kavraki, "On the implementation of single-query sampling-basedmotion planners," in Proc. IEEE Int. Conf. Robot. Autom., Anchorage, AK, May 2010, pp. 2005-2011.
13. P. Cheng and S. M. LaValle, "Reducing metric sensitivity in randomized trajectory design," in Proc. IEEE Int. Conf. Robot. Autom., Seoul, Korea, May 2001, pp. 43-48. (Pubitemid 34683630)
14. J. Bruce and M. Veloso, "Real-time multi-robot motion planning with safe dynamics," in Proc. Multi-Robot Syst.: From Swarms Intell. Automata , 2005, vol. III, pp. 159-170.
15. D. Hsu, R. Kindel, J. C. Latombe, and S.Rock, "Randomized kinodynamic motion planning with moving obstacles, " Int. J. Robot. Res., vol. 21, no. 3, pp. 233-255, Mar. 2002.
16. S. M. LaValle, J. J. Kuffner Randomized kinodynamic planning Int. J. Robot. Res. 20 5 378-400 May 2001.
17. A. M. Ladd and L. E. Kavraki, "Fast tree-based exploration of state space for robots with dynamics, " in Algorithmic Foundations of Robotics VI , New York, Springer-Verlag, STAR 17, 2005, pp. 297-312.
18. A. Shkolnik, M. Walter, and R. Tedrake, "Reachability-guided sampling for planning under differential constraints," in Proc. IEEE Int. Conf. Robot. Autom., Kobe, Japan, May 2009, pp. 2859-2865.
19. D. E. Stewart, "Rigid-body dynamics with friction and impact, " SIAM Rev., vol. 42, no. 1, pp. 3-39, 2000.
20. R. Diankov, N. Ratliff, D. Ferguson, S. Srinivasa, and J. J. Kuffner., "Bispace planning: Concurrent multi-space exploration, " presented at the Robot.: Sci. Syst. Conf., Zurich, Switzerland, Jun. 2008.
21. S. M. LaValle, "Rapidly-exploring random trees: A new tool for path planning, " Comput. Sci. Dept., Iowa State Univ., Ames, Tech. Rep. 11, 1998.
22. J. J. Kuffner and S. M. LaValle, "RRT-connect: An efficient approach to single-query path planning, " in Proc. IEEE Int. Conf. Robot. Autom. , San Francisco, CA, Apr. 2000, pp. 995-1001.
23. D. Hsu, J. C. Latombe, and R. Motwani, "Path planning in expansive configuration spaces," in Proc. IEEE Int. Conf. Robot. Autom. , vol. 3, Albuquerque, NM, Apr. 1997, pp. 2719-2726.
24. G. Śanchez and J. C. Latombe, "A single-query bi-directional probabilistic roadmap planner with lazy collision checking, " Int. J. Robot. Res. , vol. 6, pp. 403-417, 2003.
25. R. Bohlin and L.Kavraki, "Path planning using Lazy PRM," in Proc. IEEE Int. Conf. Robot. Autom., San Francisco, CA, Apr. 2000, pp. 521-528.
26. E. Ferre and J.-P. Laumond, "An iterative diffusion algorithm for part disassembly," in Proc. IEEE Int. Conf. Robot. Autom. , New Orleans, LA, Apr. 2004, pp. 3149-3154.
27. M. Morales, L. Tapia, R. Pearce, S. Rodriguez, and N. M. Amato, "A machine learning approach for feature-sensitive motion planning, " Texas A&M University, College Station, Tech. Rep., 2004.
28. S. Rodriguez, S. Thomas, R. Pearce, and N. M. Amato, "RESAMPL: A region-sensitive adaptive motion planner, " in Algorithmic Foundation of Robotics VII, New York, Springer, STAR 47, 2008, pp. 285-300.
29. A. Yershova, L. Jaillet, T. Siḿeon, and S. M. LaValle, "Dynamic-domain RRTs: Efficient exploration by controlling the sampling domain, " in Proc. IEEE Int. Conf. Robot. Autom. , Barcelona, Spain, Apr. 2005, pp. 3856-3861. (Pubitemid 46084384)
30. D. Ferguson, N. Kalra, and A. Stentz, "Replanning with RRTs," in Proc. IEEE Int. Conf. Robot. Autom., Orlando, FL, May 2006, pp. 1243-1248. (Pubitemid 44940242)
31. J. P. van den Berg and M. H. Overmars, "Path planning in repetitive environments, " in Proc. Int. Conf. Methods Models Autom. Robot., 2006, pp. 657-662.
32. B. Burns and O. Brock, "Single-query motion planning with utility-guided random trees," in Proc. IEEE Int. Conf. Robot. Autom. , Rome, Italy, Apr. 2007, pp. 3307-3312. (Pubitemid 350140695)
33. I. A. Şucan, J. F. Kruse,M. Yim, and L. E. Kavraki, "Kinodynamicmotion planning with hardware demonstrations, " in Proc. Int. Conf. Intell. Robots Syst. , Nice, France, Sep. 2008, pp. 1661-1666.
34. I. A. Şucan and L. E. Kavraki, "Kinodynamicmotion planning by interiorexterior cell exploration, " in Algorithmic Foundation of Robotics VIII, New York, Springer-Verlag, STAR 57, 2009, pp. 449-464.
35. I. A. Şucan an d L. E. Kavraki, "On the performance of random linear projections for sampling-basedmotion planning, " in Proc. Int.Conf. Intell. Robots Syst. , St. Louis, MO, Oct. 2009, pp. 2434-2439.
36. J. H. Reif, "Complexity of the mover's problem and generalizations, " in Proc. IEEE Symp. Found. Comput. Sci. , 1979, pp. 421-427.
37. J. Canny, "Some algebraic and geometric computations in PSPACE, " in Proc. Annu. ACM Symp. Theory Comput., 1988, pp. 460-469.
38. J. Barraquand and J. C. Latombe, "Robot motion planning : A distributed representation approach, " Int. J. Robot. Res. , vol. 10, no. 6, pp. 628-649, 1991.
39. P. Cheng, G. Pappas, andV.Kumar, "Decidability of motion planning with differential constraints, " in Proc. IEEE Int. Conf. Robot. Autom. , Rome, Italy, Apr. 2007, pp. 1826-1831. (Pubitemid 350140445)
40. B. Donald, P. Xavier, J. Canny, and J. Reif, "Kinodynamic motion planning, " J. ACM , vol. 40, no. 5, pp. 1048-1066, 1993.
41. J. H. Reif and S. Slee, "Optimal kinodynamic motion planning for selfreconfigurable robots between arbitrary 2D configurations, " in Robotics: Science and Systems, W. Burgard, O. Brock, and C. Stachniss, Eds. Atlanta, GA: MIT Press, Jun. 2007.
42. (2011, May 19). [Online]. Available: http://sourceforge.net/projects/ opende
43. 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, Aug. 1996. (Pubitemid 126774162)
44. F. Lamiraux, E. Ferr, and E. Vallee, "Kinodynamic motion planning: Connecting exploration trees using trajectory optimization methods," in Proc. IEEE Int. Conf. Robot. Autom. , vol. 4, New Orleans, LA, Apr. 2004, pp. 3987-3992.
45. P. Cheng, E. Frazzoli, S. M. LaValle Improving the performance of sampling-based planners by using a symmetry-exploiting gap reduction algorithm Proc. IEEE Int. Conf. Robot. Autom. 5 New Orleans, LA Apr. 2004 4362-4368.
46. E. Plaku, L. E. Kavraki, andM. Y. Vardi, "Motion planning with dynamics by a synergistic combination of layers of planning," IEEE Trans. Robot., vol. 26, pp. 469-482, Jun. 2010.
47. A. M. Ladd, "Direct motion planning over simulation of rigid body dynamics with contact," Ph.D. dissertation, Rice Univ., Houston, TX, Dec. 2006.
48. M. Kalisiak and M. v. d. Panne, "RRT-blossom: RRT with a local floodfill behavior," in Proc. IEEE Int. Conf. Robot. Autom. , Orlando, FL, May 2006, pp. 1237-1242. (Pubitemid 44940241)
49. H. Kurniawati and D. Hsu, "Workspace importance sampling for probabilistic roadmap planning, " in Proc. Int. Conf. Intell. Robots Syst. , Sendai, Japan, Sep. 2004, pp. 1618-1623.
50. S. Dalibard and J.-P. Laumond, "Control of probabilistic diffusion in motion planning," in Algorithmic Foundations of Robotics VIII. NewYork: Springer-Verlag, STAR 57, 2009, pp. 467-481.
51. E. R. Johnson and T. D. Murphey, "Scalable variational integrators for constrained mechanical systems in generalized coordinates, " IEEE Trans. Robot. Autom. , vol. 25, no. 6, pp. 1249-1261, Dec. 2009.
52. N. Koenig and A. Howard, "Design and use paradigms for Gazebo, an open-source multi-robot simulator," in Proc. Int. Conf. Intell. Robots Syst., Sendai, Japan, Sep. 2004, pp. 2149-2154. (Pubitemid 40275916)
53. R. Tedrake, "LQR-trees: Feedback motion pla nning on sparse randomized trees," in Proc. Robot.: Sci. Syst. , Seattle, WA, Jun. 2009.
54. W. B. Johnson and J. Lindenstrauss, "Extensions of Lipschitz mappings into a Hilbert space," Contemporary Math. , vol. 26, pp. 189-206, 1984.
55. J. Sastra, S. Chitta, and M. Yim, "Dynamic rolling for a modular loop robot," Int. J. Robot. Res. , vol. 39, pp. 421-430, Jan. 2008. (Pubitemid 351223283)
56. (2007). [Online]. Available: http://kavrakilab.org/OOPSMP
57. (2010). ' The OpenMotion Planning Library (OMPL) [Online]. Available: http://ompl.kavrakilab.org
58. N. M. Amato and L. K. Dale, "Probabilistic roadmap methods are embarrassingly parallel," in Proc. IEEE Int. Conf. Robot. Autom. , Detroit, MI, May 1999, pp. 688-694.
59. S. Caselli and M. Reggiani, "Randomized motion planning on parallel and distributed architectures," in Proc. 7th Euromicro Workshop Parallel Distrib. Process., Feb. 1999, pp. 297-304.
60. D. Challou, M. Gini, V. Kumar, and C. Olson, "Very fast motion planning for dexterous robots, " in Proc. IEEE Int. Symp. Assembly Task Planning , Aug. 1995, pp. 201-206.