SR-RRT: Selective retraction-based RRT planner

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2012, Pages 2543-2550

  Lee, Junghwan ^a   Kwon, Osung ^a   Zhang, Liangjun ^b   Yoon, Sung Eui ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

^b STANFORD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL OVERHEADS; DUAL OPERATORS; FREE SPACES; GENERATING SAMPLES; LINE TEST; PERFORMANCE IMPROVEMENTS;

ROBOTICS;

EID: 84864491075     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2012.6224928     Document Type: Conference Paper

References (31)

1. L. Kavraki, P. Svestka, J. C. Latombe, and M. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces", IEEE Trans. Robot. & Automat., pp. 12(4):566-580, 1996.
2. J. Kuffner and S.M. LaValle, "Rrt-connect: An efficient approach to single-query path planning", in IEEE Int. Conf. on Robotics and Automation, 2000, pp. 995-1001.
3. H. Chang and T. Li, "Assembly maintainability study with motion planning", in IEEE Int. Conf. on Robotics and Automation, 1995.
4. J.C. Latombe, "Motion planning: A journey of robots, molecules, digital actors, and other artifacts", Int. Journal of Robotics Research, pp. 1119-1128, 1999.
5. H. Kurniawati and D. Hsu, "Workspace-based connectivity oracle: An adaptive sampling strategy for prm planning", in Proceedings of Int. Workshop on the Algorithmic Foundations of Robotics, 2006.
6. V. Boor, M.H. Overmars, and A.F. van der Stappen, "The gaussian sampling strategy for probabilistic roadmap planners", in IEEE Int. Conf. on Robotics and Automation, 1999, pp. 1018-1023.
7. T. Simeon, J. P. Laumond, and C. Nissoux, "Visibility based probabilistic roadmaps for motion planning", Advanced Robotics Journal, vol. 14, no. 6, 2000.
8. D. Hsu, Tingting Jiang, J. Reif, and Zheng Sun, "The bridge test for sampling narrow passages with probabilistic roadmap planners", in IEEE ICRA, 2003, vol. 3, pp. 4420 - 4426 vol.3.
9. L. Zhang and D. Manocha, "An efficient retraction-based rrt planner", in IEEE Int. Conf. on Robotics and Automation, 2008, pp. 3743 -3750.
10. S. Rodriguez, X. Tang, J Lien, and N.M. Amato, "An obstacle-based rapidly-exploring random tree", in IEEE Int. Conf. on Robotics and Automation, 2006, pp. 895-900.
11. D. Hsu, G. Sanchez-Ante, Ho lun Cheng, and J.-C. Latombe, "Multi-level free-space dilation for sampling narrow passages in prm planning", in IEEE ICRA, 2006, pp. 1255-1260.
12. S. Redon and M.C. Lin, "Practical local planning in the contact space", in IEEE Int. Conf. on Robotics and Automation, 2005, pp. 4200 - 4205.
13. M. Saha and J.-C. Latombe, "Finding narrow passages with probabilistic roadmaps: the small step retraction method", in IEEE/RSJ Int. Conf. on IROS, 2005, pp. 622 - 627.
14. S. M. LaValle, Planning Algorithms, Cambridge University Press, 2006.
15. D. Hsu, J.C. Latombe, and H. Kurniawati, "On the probabilistic foundations of probabilistic roadmap planning", IEEE Transactions on Robotics, vol. 25, no. 7, pp. 627 - 643, 2006.
16. J. Bruce and M. Veloso, "Real-time randomized path planning for robot navigation", in IEEE/RSJ Int. Conf. on IROS, 2002, pp. 2383- 2388.
17. D. Ferguson, N. Kalra, and A. Stentz, "Replanning with rrts", in IEEE Int. Conf. on Robotics and Automation, 2006, pp. 1243-1248.
18. M.S. Branicky, M.M. Curtiss, J. Levine, and S. Morgan, "Sampling-based planning, control and verification of hybrid systems", IEE Proceedings Control Theory and Applications, pp. 575 - 590, 2006.
19. J. Cortes, L. Jaillet, and T. Simeon, "Molecular disassembly with rrt-like algorithms", in IEEE Int. Conf. on Robotics and Automation, 2007, pp. 3301 -3306.
20. B. Burns and O. Brock, "Single-query motion planning with utility-guided random trees", in IEEE Int. Conf. on Robotics and Automation, 2007, pp. 3307 -3312.
21. A. Yershova, L. Jaillet, T. Simeon, and S.M. LaValle, "Dynamic-domain rrts: Efficient exploration by controlling the sampling domain", in IEEE ICRA, 2005, pp. 3856 - 3861.
22. S.R. Lindemann and S.M. LaValle, "Incrementally reducing dispersion by increasing voronoi bias in rrts", in IEEE Int. Conf. on Robotics and Automation, 2004, pp. 3251-3257.
23. J. Guitton, J.-L. Farges, and R. Chatila, "Cell-rrt: Decomposing the environment for better plan", in IEEE/RSJ Int. Conf. on IROS, 2009, pp. 5776-5781.
24. S. Rodriguez, S. Thomas, R. Pearce, and N. Amato, "Resampl: A region-sensitive adaptive motion planner", in Int. Workshop on the Algorithmic Foundations of Robotics, 2006.
25. M. Morales, L. Tapia, R. Pearce, S. Rodriguez, and N.M. Amato, "A machine learning approach for feature-sensitive motion planning", in Algorithmic Foundations of Robotics VI, 2005, vol. 17, pp. 361-376.
26. S Dalibard and J.P. Laumond, "Linear dimensionality reduction in random motion planning", Int. Journal of Robotics Research, 2011.
27. A. Shkolnik and R. Tedrake, "Sample-based planning with volumes in configuration space", CoRR, vol. abs/1109.3145, 2011.
28. D. Hsu, G. Sanchez-Ante, and Z. Sun, "Hybrid prm sampling with a cost-sensitive adaptive strategy", in IEEE Int. Conf. on Robotics and Automation, 2005, pp. 3874 - 3880.
29. I. Jolliffe, "Principle component analysis", in Springer-Veriag, 1986.
30. M. Sharir, "Algorithmic motion planning", in Handbook of Discrete and Computational Geometry, J. E. Goodman and J. O'Rourke, Eds., chapter 40, pp. 733-754. CRC Press LLC, Boca Raton, FL, 1997.
31. E. Larsen, S. Gottschalk, M. Lin, and D. Manocha, "Distance queries with rectangular swept sphere volumes", Proc. of IEEE Int. Conference on Robotics and Automation, pp. 3719-3726, 2000.