Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Lydia E. Kavraki,P. Svestka,Jean-Claude Latombe,Mark H. Overmars +3 more
- Vol. 12, Iss: 4, pp 566-580
Reads0
Chats0
TLDR
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).read more
Citations
More filters
Journal ArticleDOI
Motion planning using adaptive random walks
TL;DR: A novel single-shot motion-planning algorithm based on adaptive random walks that can incorporate adaptive components, so the developer is not required to specify all the parameters of the random distributions involved, and the algorithm itself can adapt to the environment it is moving in.
Book ChapterDOI
Elastic Strips: A Framework for Integrated Planning and Execution
Oliver Brock,Oussama Khatib +1 more
TL;DR: The elastic strip framework is computationally efficient and can be applied to robots with many degrees of freedom and is presented, which addresses the problem by integrating global motion planning methods with a reactive motion execution approach.
Proceedings ArticleDOI
Two Body Problem: Collaborative Visual Task Completion
Unnat Jain,Luca Weihs,Eric Kolve,Mohammad Rastegari,Svetlana Lazebnik,Ali Farhadi,Alexander G. Schwing,Aniruddha Kembhavi +7 more
TL;DR: This paper studies the problem of learning to collaborate directly from pixels in AI2-THOR and demonstrates the benefits of explicit and implicit modes of communication to perform visual tasks.
Proceedings ArticleDOI
Planning with adaptive dimensionality for mobile manipulation
TL;DR: This work presents a heuristic search-based deterministic mobile manipulation planner, based on the recently-developed algorithm for planning with adaptive dimensionality, which demonstrates reasonable performance, while also providing strong guarantees on completeness and suboptimality bounds with respect to the graph representing the problem.
Proceedings ArticleDOI
Collision avoidance for UAVs using reachable sets
Yucong Lin,Srikanth Saripalli +1 more
TL;DR: A real-time path planning algorithm for UAVs to avoid collision with other aircraft and shows that reachable set improves the success rate for collision avoidance compared to the linear motion assumption for the obstacle aircraft.
References
More filters
Book
Robot Motion Planning
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Journal ArticleDOI
An algorithm for planning collision-free paths among polyhedral obstacles
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
Journal ArticleDOI
Spatial Planning: A Configuration Space Approach
TL;DR: In this article, the authors propose an approach based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object.
Journal ArticleDOI
Exact robot navigation using artificial potential functions
Elon Rimon,Daniel E. Koditschek +1 more
TL;DR: A methodology for exact robot motion planning and control that unifies the purely kinematic path planning problem with the lower level feedback controller design is presented.
Book
Spatial planning: a configuration space approach
TL;DR: Algorithms for computing constraints on the position of an object due to the presence of ther objects, which arises in applications that require choosing how to arrange or how to move objects without collisions are presented.