CHOMP: Covariant Hamiltonian optimization for motion planning
Citations
655 citations
Cites background or methods from "CHOMP: Covariant Hamiltonian optimi..."
...…that TrajOpt was computationally faster than the alternatives on the considered benchmark (around 100 − 200 ms on arm-planning problems and solves full body 18 DOF planning problems for the PR2 robot in under a second on an Intel i7 3.5 GHz CPU), and solved a larger fraction of the problems given…...
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...…art, our algorithm differs fundamentally in the following two ways: 1) Distance fields versus convex-convex collision checking: CHOMP uses the Euclidean distance transform—a precomputed function on a voxel grid that specifies the distance to the nearest obstacle, or the distance out of an obstacle....
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...However, CHOMP (Covariant Hamiltonian Optimization for Motion Planning) [41, 61] revived interest in trajectory optimization methods by demonstrating the effectiveness on several robotic platforms including the HERB mobile manipulation platform, the LittleDog quadruped, and the PR2 robot....
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554 citations
471 citations
Cites background from "CHOMP: Covariant Hamiltonian optimi..."
...This version is not yet publicly available at the time of publication, but it was made available to us by the authors [28]....
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354 citations
Cites methods from "CHOMP: Covariant Hamiltonian optimi..."
...Methods that utilize motion planning (5, 6) aim to overcome some of the burdens of traditional robot programming by eliminating the need to specify the entire sequence of low-level actions, such as trajectories....
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316 citations
Cites background from "CHOMP: Covariant Hamiltonian optimi..."
...One existing work that combines ESDFs and TSDFs is that of Wagner et al., who use KinectFusion combined with CHOMP for planning for an armed robot [15], [16]....
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...For example, trajectory optimization-based planners, such as CHOMP [7], require distances to obstacles and collision gradient information over the entire workspace of the robot....
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References
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14,187 citations
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"CHOMP: Covariant Hamiltonian optimi..." refers methods in this paper
...Then the distance field computation is reduced to a minimization across a set of distance field primitives pre-computed for each object in O: D( x) = min O∈O ( TFWFO )−1 x (20) Hierarchical representations, such as the k-d tree (Bentley, 1975), may be utilized to speed up this computation....
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...Hierarchical representations, such as the k-d tree (Bentley, 1975), may be utilized to speed up this computation....
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6,515 citations
6,340 citations
"CHOMP: Covariant Hamiltonian optimi..." refers result in this paper
...As our results illustrate, CHOMP demonstrates attractive computational efficiency and convergence even in cluttered obstacle environments....
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4,977 citations