Lazy Toggle PRM: A single-query approach to motion planning

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 2407-2414

  Denny, Jory ^a   Shi, Kensen ^a,b   Amato, Nancy M ^a  

^a TEXAS A AND M UNIVERSITY   (United States)

^b A and M Consolidated High School   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL COSTS; DESCRIPTIVE COMPLEXITY; HIGH-DIMENSIONAL; NARROW SPACES; PROBABILISTIC ROAD MAPS; QUERY TIME; ROAD-MAPS; ROADMAP;

MAPPING;

ROBOTICS;

EID: 84887264306     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6630904     Document Type: Conference Paper

References (25)

1. N. M. Amato, O. B. Bayazit, L. K. Dale, C. V. Jones, and D. Vallejo. OBPRM: An obstacle-based PRM for 3D workspaces. In Robotics: The Algorithmic Perspective, pages 155-168
2. Natick, MA, 1998. A.K. Peters. Proc. Third Workshop on Algorithmic Foundations of Robotics (WAFR), Houston, TX, 1998.
3. O. B. Bayazit, G. Song, and N. M. Amato. Enhancing randomized motion planners: Exploring with haptic hints. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 529-536, 2000.
4. R. Bohlin and L. E. Kavraki. Path planning using Lazy PRM. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 521-528, 2000.
5. V. Boor, M. H. Overmars, and A. F. van der Stappen. The Gaussian sampling strategy for probabilistic roadmap planners. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), volume 2, pages 1018-1023, May 1999.
6. B. Burns and O. Brock. Sampling-based motion planning using predictive models. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 3313-3318, 2005.
7. B. Burns and O. Brock. Toward optimal configuration space sampling. In Proc. Robotics: Sci. Sys. (RSS), pages 105-112, 2005.
8. J. Denny and N. M. Amato. Toggle PRM: Simultaneous mapping of C-free and C-obstacle-A study in 2D-. In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pages 2632-2639, San Francisco, California, USA, Septempber 2011.
9. J. Denny and N. M. Amato. The toggle local planner for samplingbased motion planning. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 1779-1786, St. Paul, Minnesota, USA, May 2012.
10. J. Denny and N. M. Amato. Toggle PRM: A coordinated mapping of C-free and C-obstacle in arbitrary dimension. In Proc. Int. Workshop on Algorithmic Foundations of Robotics (WAFR), Cambridge, Massachusetts, USA, June 2012.
11. D. Hsu, T. Jiang, J. Reif, and Z. Sun. Bridge test for sampling narrow passages with probabilistic roadmap planners. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 4420-4426, 2003.
12. D. Hsu, J.-C. Latombe, and H. Kurniawati. On the probabilistic foundations of probabilistic roadmap planning. Int. J. Robot. Res., 25:627-643, July 2006.
13. 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. Automat., 12(4):566-580, August 1996.
14. S. M. LaValle and J. J. Kuffner. Randomized kinodynamic planning. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 473-479, 1999.
15. J.-M. Lien, O. B. Bayazit, R.-T. Sowell, S. Rodriguez, and N. M. Amato. Shepherding behaviors. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 4159-4164, April 2004.
16. J.-M. Lien, S. L. Thomas, and N. M. Amato. A general framework for sampling on the medial axis of the free space. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 4439-4444, September 2003.
17. T. Lozano-Perez and M. A. Wesley. An algorithm for planning collision-free paths among polyhedral obstacles. Communications of the ACM, 22(10):560-570, October 1979.
18. C. L. Nielsen and L. E. Kavraki. A two level fuzzy PRM for manipulation planning. IEEE/RSJ International Conference on Intelligent Robotics and Systems, pages 1716-1722, 2000.
19. J. H. Reif. Complexity of the mover's problem and generalizations. In Proc. IEEE Symp. Foundations of Computer Science (FOCS), pages 421-427, San Juan, Puerto Rico, October 1979.
20. A. C. Shkolnik and R. Tedrake. Sample-based planning with volumes in configuration space. CoRR, abs/1109.3145, 2011.
21. A. P. Singh, J.-C. Latombe, and D. L. Brutlag. A motion planning approach to flexible ligand binding. In Int. Conf. on Intelligent Systems for Molecular Biology (ISMB), pages 252-261, 1999.
22. G. Song, S. L. Miller, and N. M. Amato. Customizing PRM roadmaps at query time. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 1500-1505, 2001.
23. G. Tanase, A. Buss, A. Fidel, Harshvardhan, I. Papadopoulos, O. Pearce, T. Smith, N. Thomas, X. Xu, N. Mourad, J. Vu, M. Bianco, N. M. Amato, and L. Rauchwerger. The STAPL Parallel Container Framework. In Proc. ACM SIGPLAN Symp. Prin. Prac. Par. Prog. (PPoPP), pages 235-246, San Antonio, Texas, USA, 2011.
24. 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. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), volume 2, pages 1024-1031, 1999.
25. H.-Y. C. Yeh, S. Thomas, D. Eppstein, and N. M. Amato. Uobprm: A uniformly distributed obstacle-based prm. In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), Vilamoura, Algarve, Portugal, 2012