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Proceedings ArticleDOI

A two level fuzzy PRM for manipulation planning

01 Jan 2000-Vol. 3, pp 1716-1721
TL;DR: An algorithm which extends the probabilistic roadmap (PRM) framework to handle manipulation planning by using a two level approach, a PRM of PRMs, made possible by the introduction of a new kind of roadmap, called the fuzzy roadmap.
Abstract: This paper presents an algorithm which extends the probabilistic roadmap (PRM) framework to handle manipulation planning. This is done by using a two level approach, a PRM of PRMs. The first level builds a manipulation graph, whose nodes represent stable placements of the manipulated objects while the edges represent transfer and transit actions. The actual motion planning for the transfer and transit paths is done by PRM planners at the second level. The approach is made possible by the introduction of a new kind of roadmap, called the fuzzy roadmap. The fuzzy roadmap contains edges which are not verified by a local planner during construction. Instead, each edge is assigned a number which represents the probability that it is feasible. Later, if the edge is part of a solution path, the edge is checked for collisions. The overall effect is that our roadmaps evolve iteratively until they contain a solution. The use of fuzzy roadmaps in both levels of our manipulation planner offers many advantages. At the first level, a fuzzy roadmap represents the manipulation graph and addresses the problem of having probabilistically complete planners at the second level. At the second level, fuzzy roadmaps drastically reduce the number of collision checks. The paper contains experimental results demonstrating the feasibility and efficiency of our scheme.

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Citations
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Proceedings ArticleDOI
07 Oct 2008
TL;DR: A new approach, called clearance-based probabilistic roadmap method (CBPRM(c), is proposed which in contrast to VV(c) method, visibility-Voronoi with clearance c, beside satisfaction of a predefined clearance is very efficient in running time, to be applicable in dynamic environments which require real-time approaches.
Abstract: In this paper, two different important quality metrics, clearance and execution time, for motion planning of mobile robots are studied. Then a new approach, called clearance-based probabilistic roadmap method (CBPRM(c)), is proposed which in contrast to VV(c) method, visibility-Voronoi with clearance c, beside satisfaction of a predefined clearance is very efficient in running time. This provides the CBPRM(c) to be applicable in dynamic environments which require real-time approaches. Experiments showed that the CBPRM(c) is able to generate paths with very low execution time considering determined clearance.

2 citations


Cites methods from "A two level fuzzy PRM for manipulat..."

  • ...Improvements have been done in order to have higher quality path and reduce unnecessary nodes and edges validations with lazy PRM [1], fuzzy PRM [6] and customized PRM [9] The Minkowski sum can be computed in time linear in the size of the polygon P [12]....

    [...]

01 Jan 2008
TL;DR: In this article, the problem of path planning in continuous spaces with obstacles is abstracted to one of traversing a graph where some edges (referred to as uncertain edges) may or may not be present, and noisy observations of these edges can be made from some of the vertices of the graph.
Abstract: Probabilistic roadmaps (PRMs) are a commonly used approach to path planning in continuous spaces with obstacles. We examine the case where the obstacle locations are not known with certainty but can be observed during execution of the plan. We abstract the problem to one of traversing a graph where some edges (referred to as uncertain edges) may or may not be present, and where noisy observations of these edges can be made from some of the vertices of the graph. We show that this problem can be represented as a POMDP, and then use the structure in the problem to derive a number of MDP approximations to the POMDP. We show that using these approximations we can solve larger PRMs efficiently while producing policies that are close to optimal for many problems, and that we can produce optimal solutions for PRMs with smaller numbers of uncertain edges.

2 citations


Cites methods from "A two level fuzzy PRM for manipulat..."

  • ...The idea of associating a “success probability” with edges is used by several implementations and is similar to the first stage of processing used in (Nielsen and Kavraki 2000)....

    [...]

Dissertation
17 Dec 2012
TL;DR: Cette architecture, developpee en collaboration avec un partenaire du projet europeen Dexmart a egalement ete evaluee dans une etude utilisateur permet de prendre en compte l'homme de maniere dynamique lors de the realisation of tâches de manipulation interactive.
Abstract: Un robot agit sur son environnement par le mouvement, sa capacite a planifier ses mouvements est donc une composante essentielle de son autonomie. La planification de mouvement est un domaine de recherche qui a largement ete etudie durant ces dernieres decennies. L'objectif de cette these est de concevoir des methodes algorithmiques performantes permettant le calcul automatique de trajectoires pour des systemes robotiques complexes dans le cadre de la robotique d'assistance. Ce champ applicatif emergeant de la robotique autonome apporte de nouvelles contraintes et de nouveaux defis. Les systemes consideres qui ont pour vocation de servir l'homme et de l'accompagner dans des tâches du quotidien doivent tenir compte de la securite et du bien-etre de l'homme. Pour cela, les mouvements du robot doivent etre generes en considerant explicitement le partenaire humain raisonant sur un modele du comportement social de l'homme, de ses capacites et de ses limites afin de produire un comportement synergique optimal. Dans cette these nous etendons les travaux pionniers menes au LAAS dans ce domaine afin de produire des mouvements considerant l'homme de maniere explicite dans des environnements encombres. Des algorithmes d'exploration de l'espace des configurations par echantillonnage aleatoire sont combines a des algorithmes d'optimisation de trajectoire afin de produire des mouvements surs et agreables. Nous proposons dans un deuxieme temps un planificateur de tâche d'echange d'objet prenant en compte la mobilite du receveur humain permettant ainsi de partager l'effort lors du transfert. La pertinence de cette approche a ete etudiee dans une etude utilisateur. Finalement, nous presentons une architecture logicielle qui permet de prendre en compte l'homme de maniere dynamique lors de la realisation de tâches de manipulation interactive. Cette architecture, developpee en collaboration avec un partenaire du projet europeen Dexmart a egalement ete evaluee dans une etude utilisateur.

2 citations

Dissertation
01 Jul 2016
TL;DR: It is found that trails in a virtual environments are a useful source of information for an agent's map building process, and can be used to improve rapidly exploring randomised tree and probabilistic roadmap generation, as well as being used as a source of Information for segmenting maps in very large scale environments.
Abstract: This thesis looks at improving the generation of maps for intelligent virtual agents in large scale environments Virtual environments are growing larger in size and becoming more complex There is a major challenge in providing agents that are able to autonomously generate their own map representations of the environment for use in navigation Currently, map generation for agents in large scale virtual environments is performed either by hand or requires a lengthy pre-processing step where the map is built online We are interested in environments where this process is not possible, such as those that encourage user generated content We look at improving map generation in these environments by using trails Trails are a set of observations of how a user navigates an environment over time By observing trails an agent is able to identify free space in an environment and how to navigate between points without needing to perform any collision checking We found that trails in a virtual environments are a useful source of information for an agent's map building process Trails can be used to improve rapidly exploring randomised tree and probabilistic roadmap generation, as well as being used as a source of information for segmenting maps in very large scale environments

2 citations


Cites background or methods from "A two level fuzzy PRM for manipulat..."

  • ...This is usually seen where there are a large number of agents using a single map (van den Berg et al., 2008), or when the environment is very large (Nielsen and Kavraki, 2000; Nieuwenhuisen et al., 2004)....

    [...]

  • ...The Fuzzy PRM is a similar method of PRM generation, which assigns a probability that an edge is free and then only checks this if the edge is then used by the path planner (Nielsen and Kavraki, 2000)....

    [...]

References
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Journal ArticleDOI
01 Aug 1996
TL;DR: Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
Abstract: A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).

4,977 citations

Proceedings Article
01 Aug 1998
TL;DR: This paper presents a new class of randomized path planning methods, known as Probabilistic Roadmap Methods (prms), which use randomization to construct a graph of representative paths in C-space whose vertices correspond to collision-free con gurations of the robot.
Abstract: Recently, a new class of randomized path planning methods, known as Probabilistic Roadmap Methods (prms) have shown great potential for solving complicated high-dimensional problems. prms use randomization (usually during preprocessing) to construct a graph of representative paths in C-space (a roadmap) whose vertices correspond to collision-free con gurations of the robot and in which two vertices are connected by an edge if a path between the two corresponding con gurations can be found by a local planning method.

533 citations

Proceedings Article
01 Aug 1998
TL;DR: Y@lBEDGF HEIKJ L„DzMPORQSIUT MV@CW2X >A@CBEDGF HeIKJRX\[^]\X,L>z]  ~Uw ’Nw2x  “eUfa3Vx=
Abstract: .0/2143658709;:=A@CBEDGF HEIKJ L DNMPORQSIUT MV@CW2X >Y@CBEDZF HEIUJRX\[^]\X,L=>N] _?`N5a3P/(b-cYd,/21aeZ/Rfa3CN] vpw /Rxzy;{ |6/R:Y54w}_=/R~Kp€(‚wƒ<‚>Y@lBEDGF HEIUJ L„DNMPO QSI…T MV@lWmX >Y@lBEDGF HEIKJRX\[^]†XsL=>N] ‡†/ ˆ‰w2w21‹ŠŒp~‰Ž/ xN3CY@lBEDGF HEIKJ L„DzMPORQSIUT MV@CW2X >A@CBEDGF HEIKJRX\[^]\X,L>z]  ~Uw ‘N’Nw2x  “eUfa3Vx=Y@lBEDGF HEIKJ L„DzMPORQSIUT MV@CW2X >A@CBEDGF HEIKJRX\[^]\X,L>z]

364 citations

Proceedings Article
12 May 1995
TL;DR: This paper addresses the motion planning problem for a robot in presence of movable objects with an overview of a general approach which consists in building a manipulation graph whose connected components characterize the existence of solutions.
Abstract: This paper addresses the motion planning problem for a robot in presence of movable objects. Motion planning in this context appears as a constrained instance of the coordinated motion planning problem for multiple movable bodies. Indeed, a solution path in the configuration space of the robot and all movable objects is a sequence of transit paths where the robot moves alone and transfer paths where a movable object follows the robot. A major problem is to find the set of configurations where the robot has to grasp or release objects. The paper gives an overview of a general approach which consists in building a manipulation graph whose connected components characterize the existence of solutions. Two planners developed at LAAS-CNRS illustrate how the general formulation can be instantiated in specific cases.

175 citations

Proceedings Article
12 May 1995

160 citations