OBPRM: an obstacle-based PRM for 3D workspaces
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6,340 citations
Cites background from "OBPRM: an obstacle-based PRM for 3D..."
...Sampling on the Cfree boundary [22, 26] This scheme is based on the intuition that it is sometimes better to sample along the boundary, ∂Cfree, rather than waste samples on large areas of Cfree that might be free of obstacles....
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1,811 citations
1,472 citations
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Cites methods from "OBPRM: an obstacle-based PRM for 3D..."
...niques to increase the connectivity of the roadmap are described in [ 2 ] and [ll]....
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815 citations
References
6,186 citations
"OBPRM: an obstacle-based PRM for 3D..." refers background or methods in this paper
..., when the robot has very few degrees of freedom (dof) [11, 18]....
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...These methods, known as probabilistic roadmap methods (prms), use randomization (usually during preprocessing) to construct a graph in C-space (a roadmap [18])....
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4,977 citations
"OBPRM: an obstacle-based PRM for 3D..." refers background or methods in this paper
...For example, the prm of [15, 17] rst tries to connect each node to the k (a parameter) closest nodes (as determined by some distance metric) using the common straight-line in C-space local planner, and then attempts to enhance the roadmap by sampling more nodes in identi ed `di cult' regions and/or by using more sophisticated local planners such as RPP [4]....
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..., 10) closest nodes to it (as determined by some distance metric) [17]....
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...In particular, after the roadmap is constructed during preprocessing, many di cult planning queries can be answered in fractions of seconds [3, 17]....
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...The rst prms [15, 17] use uniform sampling in Cspace to generate roadmap candidate nodes (collisionfree con gurations are retained); roadmaps are enhanced by further sampling in `di cult' regions....
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...Indeed, even though most prms greatly limit the number of connections attempted (say, to ten for each node), they still typically spend more than 95% of their preprocessing time in the connection phase [3, 17]....
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1,097 citations
"OBPRM: an obstacle-based PRM for 3D..." refers background or methods in this paper
...For example, the prm of [15, 17] rst tries to connect each node to the k (a parameter) closest nodes (as determined by some distance metric) using the common straight-line in C-space local planner, and then attempts to enhance the roadmap by sampling more nodes in identi ed `di cult' regions and/or by using more sophisticated local planners such as RPP [4]....
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...Notable among these are randomized potential eld methods (e.g., RPP [4]), which work very well when the con guration space (C-space) is relatively uncluttered, but unfortunately there also exist simple situations in which they are not successful [5, 15]....
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..., RPP [4]), which work very well when the con guration space (C-space) is relatively uncluttered, but unfortunately there also exist simple situations in which they are not successful [5, 15]....
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...For example, the prm of [15, 17] rst tries to connect each node to the k (a parameter) closest nodes (as determined by some distance metric) using the common straight-line in C-space local planner, and then attempts to enhance the roadmap by sampling more nodes in identi ed `di cult' regions and/or by using more sophisticated local planners such as RPP [4]....
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909 citations
"OBPRM: an obstacle-based PRM for 3D..." refers background in this paper
..., when the robot has very few degrees of freedom (dof) [11, 18]....
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803 citations
"OBPRM: an obstacle-based PRM for 3D..." refers background in this paper
...Indeed, there is strong evidence that any complete planner (one that is guaranteed to nd a solution or determine that none exists) will require time that is exponential in the number of dof of the robot [21]....
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