Asymptotically near-optimal planning with probabilistic roadmap spanners

IEEE Transactions on Robotics

Volumn 29, Issue 2, 2013, Pages 432-444

  Marble, James D ^a,b   Bekris, Kostas E ^c  

^a Reno   (United States)

^b SIERRA NEVADA CORPORATION   (United States)

^c RUTGERS UNIVERSITY   (United States)

Author keywords

Motion planning; near optimality; probabilistic roadmaps

Indexed keywords

ASYMPTOTICALLY OPTIMAL; COMPUTATIONAL COSTS; CONSTRUCTION TIME; INCREMENTAL METHOD; NEAR-OPTIMALITY; PROBABILISTIC ROAD MAPS; PROBABILISTIC ROADMAP; SEQUENTIAL APPROACH;

ALGORITHMS; MOTION PLANNING; OPTIMIZATION; QUERY PROCESSING;

GRAPH THEORY;

EID: 84876151809     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2012.2234312     Document Type: Article

References (43)

1. L. E. Kavraki, P. Svestka, J.-C. Latombe, andM. 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)
2. N. M. Amato, O. B. Bayazit, L. K. Dale, C. Jones, and D. Vallejo, "OBPRM: An obstacle-based PRM for 3D workspaces," in Proc. Workshop Algorithm. Found. Robot., 1998, pp. 155-168.
3. L. J. Guibas, C. Holleman, and L. E. Kavraki, "A probabilistic roadmap planner for flexible objects with a workspace medial-axis-based sampling approach," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Oct. 1999, vol. 1, pp. 254-259. (Pubitemid 30578069)
4. T. Simeon, J.-P. Laumond, and C. Nissoux, "Visibility-based probabilistic roadmaps for motion planning," Adv. Robot. J., vol. 41, no. 6, pp. 477-494, 2000.
5. G. Sanchez and J.-C. Latombe, "A single-query, bi-directional probabilistic roadmap planner with lazy collision checking," in Proc. Int. Symp. Robot. Res., 2001, pp. 403-418.
6. D. Xie, M. Morales, R. Pearce, S. Thomas, J.-L. Lien, and N. M. Amato, "Incremental map generation (IMG)," presented at the Workshop Algorithm. Found. Robot., New York, Jul. 2006.
7. R. Geraerts and M. H. Overmars, "Reachability-based analysis for probabilistic roadmap planners," J. Robot. Autonom. Syst., vol. 55, pp. 824-836, 2007. (Pubitemid 47576575)
8. R. Wein, J. van den Berg, and D. Halperin, "Planning high-quality paths and corridors amidst obstacles," Int. J. Robot. Res., vol. 27, no. 11-12, pp. 1213-1231, Nov. 2008.
9. B.Raveh,A. Enosh, andD.Halperin, "Alittle more, a lot better: Improving path quality by a path-merging algorithm," IEEE Trans. Robot., vol. 27, no. 2, pp. 365-370, Apr. 2011.
10. L. Jaillet and T. Siḿeon, "Path deformation roadmaps: Compact graphs with useful cycles for motion planning," Int. J. Robot. Res., vol. 27, nos. 11/12, pp. 1175-1188, 2008.
11. E. Schmitzberger, J. L. Bouchet, M. Dufaut, D. Wolf, and R. Husson, "Capture of homotopy classes with probabilistic roadmap," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., 2002, vol. 3, Lausanne, Switzerland, pp. 2317-2322. (Pubitemid 35438154)
12. S. Karaman and E. Frazzoli, "Sampling-based algorithms for optimal motion planning," Int. J. Robot. Res., vol. 30, no. 7, pp. 846-894, Jun. 2011.
13. D. Nieuwenhuisen and M. H. Overmars, "Using cycles in probabilistic roadmap graphs," in Proc. IEEE Int. Conf. Robot. Autom., Apr./May 2004, vol. 1, pp. 446-452.
14. E. Plaku, K. E. Bekris, B. Y. Chen, A. M. Ladd, and L. E. Kavraki, "Sampling-based roadmap of trees for parallel motion planning," IEEE Trans. Robot. Autom., vol. 21, no. 4, pp. 587-608, Aug. 2005.
15. R. Geraerts and M. H. Overmars, "Creating small graphs for solving motion planning problems," in Proc. IEEE Int. Conf. Meth. Models Autom. Robot., 2005, pp. 531-536.
16. M. A. Morales, R. Pearce, and N. M. Amato, "Metrics for analyzing the evolution of C-space models," in Proc. IEEE Int. Conf. Robot. Autom., May 2006, pp. 1268-1273. (Pubitemid 44940246)
17. J. Kim, R. A. Pearce, and N. M. Amato, "Extracting optimal paths from roadmaps for motion planning," in Proc. IEEE Int. Conf. Robot. Autom., vol. 2, Taipei, Taiwan, Sep. 14-19, 2003, pp. 2424-2429.
18. R. Geraerts and M. H. Overmars, "Creating high-quality roadmaps for motion planning in virtual environments," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Beijing, China, Oct. 2006, pp. 4355-4361. (Pubitemid 46928610)
19. R. Pearce, M. Morales, and N. Amato, "Structural improvement filtering strategy for PRM," presented at the Robot. Sci. Syst., Zurich, Switzerland, Jun. 2008.
20. 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.
21. S. M. LaValle and J. J. Kuffner, "Randomized kinodynamic planning," Int. J. Robot. Res., vol. 20, no. 5, pp. 378-400, May 2001.
22. O. Nechushtan, B. Raveh, and D. Halperin, "Sampling-diagrams automata: A tool for analyzing path quality in tree planners," presented at the Workshop Algorithm. Found. Robot., Singapore, Dec. 2010.
23. D. Ferguson and A. Stentz, "Anytime RRTs," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Beijing, China, Oct. 2006, pp. 5369-5375. (Pubitemid 46928788)
24. K. Bekris and L.Kavraki, "Informed and probabilistically complete search for motion planning under differential constraints," presented at the 1st Int. Symp. Search Tech. Artif. Intell. Robot., Chicago, IL, Jul. 2008.
25. Y. Li and K. E. Bekris, "Learning approximate cost-to-go metrics to improve sampling-based motion planning," presented at the IEEE Int. Conf. Robot. Autom., Shanghai, China, May 9-13, 2011.
26. S. Karaman, M. Walter, A. Perez, E. Frazzoli, and S. Teller, "Anytime motion planning using the RRT?," presented at the IEEE Int. Conf. Robot. Autom., Shanghai, China, May 2011.
27. J. D. Marble and K. E. Bekris, "Computing spanners of asympotically optimal probabilistic roadmaps," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., San Francisco, CA, Sep. 2011, pp. 4292-4298.
28. J. D. Marble and K. E. Bekris, "Asymptotically near-optimal is good enough for motion planning," presented at the Symp. Robot. Res., Flagstaff, AZ, Aug. 2011.
29. T. Lozano-Perez, "Spatial planning: A configuration space approach," IEEE Trans. Comput., vol. C-32, no. 2, pp. 108-120, Feb. 1983.
30. D. Peleg and A. Scḧaffer, "Graph spanners," J. Graph Theor., vol. 13, no. 1, pp. 99-116, 1989.
31. I. Altḧofer, G. Das, D. Dobkin, D. Joseph, and J. Soares, "On sparse spanners of weighted graphs," Discr. Comput. Geometr., vol. 9, no. 1, pp. 81-100, 1993.
32. S. Baswana and S. Sen, "A Simple and linear time randomized algorithm for computing sparse spanners in weighted graphs," Random Struct. Algorithm., vol. 30, no. 4, pp. 532-563, Jul. 2007.
33. J. M. Keil, "Approximating the complete Euclidean graph," in Proc. 1st Scandinav.Workshop Algorithm Theor. London, U.K.: Springer-Verlag, 1988, pp. 208-213.
34. J. Gao, L. J. Guibas, and A. Nguyen, "Deformable spanners and applications," Comput. Geometr. Theor. Appl., vol. 35, nos. 1/2, pp. 2-19, Aug. 2006.
35. E. Cohen, "Fast algorithms for constructing t-spanners and paths with stretch t," SIAM J. Comput., vol. 28, no. 1, pp. 210-236, 1998. (Pubitemid 128491797)
36. B. Awerbuch, B. Berger, L. Cowen, and D. Peleg, "Near-linear time construction of sparse neighborhood covers," SIAM J. Comput., vol. 28, no. 1, pp. 263-277, 1998. (Pubitemid 128491800)
37. L. Roditty, M. Thorup, and U. Zwick, "Deterministic constructions of approximate distance oracles and spanners," in Proc. Int. Colloq. Autom. Lang. Programm., 2005, pp. 261-272. (Pubitemid 41436107)
38. M. Thorup and U. Zwick, "Approximate distance oracles," J. Assoc. Comput. Mach., vol. 52, no. 1, pp. 1-24, Jan. 2005. (Pubitemid 43078379)
39. J. L. Bentley, "Multidimensional binary search trees used for associative searching," Commun. Assoc. Comput. Mach., vol. 18, no. 9, pp. 509-517, Sep. 1975.
40. I. A. Şucan, M. Moll, and L. E. Kavraki. (2013). The open motion planning library. IEEE Robot. Autom. Mag. [Online]. Available: http://ompl.kavrakilab.org
41. J. D. Marble andK. E.Bekris, "Towards small asymptotically near-optimal roadmaps," presented at the IEEE Int. Conf. Robot. Autom., St. Paul, MN, May 14-18, 2012.
42. A. Dobson, A. Krontiris, and K. E. Bekris, "Sparse roadmap spanners," presented at the Workshop Algorithm. Found. Robot., Cambridge, MA, Jun. 13-15, 2012.
43. A. Dobson and K. E. Bekris, "Sparse roadmaps spanners for asymptotically near-optimal motion planning," Int. J. Robot. Res., 2013, to be published.