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

Handle URI:
http://hdl.handle.net/10754/598710
Title:
Lazy Toggle PRM: A single-query approach to motion planning
Authors:
Denny, Jory; Shi, Kensen; Amato, Nancy M.
Abstract:
Probabilistic RoadMaps (PRMs) are quite suc-cessful in solving complex and high-dimensional motion plan-ning problems. While particularly suited for multiple-query scenarios and expansive spaces, they lack efficiency in both solving single-query scenarios and mapping narrow spaces. Two PRM variants separately tackle these gaps. Lazy PRM reduces the computational cost of roadmap construction for single-query scenarios by delaying roadmap validation until query time. Toggle PRM is well suited for mapping narrow spaces by mapping both Cfree and Cobst, which gives certain theoretical benefits. However, fully validating the two resulting roadmaps can be costly. We present a strategy, Lazy Toggle PRM, for integrating these two approaches into a method which is both suited for narrow passages and efficient single-query calculations. This simultaneously addresses two challenges of PRMs. Like Lazy PRM, Lazy Toggle PRM delays validation of roadmaps until query time, but if no path is found, the algorithm augments the roadmap using the Toggle PRM methodology. We demonstrate the effectiveness of Lazy Toggle PRM in a wide range of scenarios, including those with narrow passages and high descriptive complexity (e.g., those described by many triangles), concluding that it is more effective than existing methods in solving difficult queries. © 2013 IEEE.
Citation:
Denny J, Shi K, Amato NM (2013) Lazy Toggle PRM: A single-query approach to motion planning. 2013 IEEE International Conference on Robotics and Automation. Available: http://dx.doi.org/10.1109/ICRA.2013.6630904.
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Journal:
2013 IEEE International Conference on Robotics and Automation
KAUST Grant Number:
KUS-C1-016-04
Issue Date:
May-2013
DOI:
10.1109/ICRA.2013.6630904
Type:
Conference Paper
Sponsors:
This research supported in part by NSF awards CNS-0551685, CCF-0833199, CCF-0830753, IIS-0917266, IIS-0916053, EFRI-1240483, RI-1217991, by NIH NCI R25 CA090301-11, by THECB NHARP award000512-0097-2009, by Chevron, IBM, Intel, Oracle/Sun and by AwardKUS-C1-016-04, made by King Abdullah University of Science and Technology(KAUST).
Appears in Collections:
Publications Acknowledging KAUST Support

Full metadata record

DC FieldValue Language
dc.contributor.authorDenny, Joryen
dc.contributor.authorShi, Kensenen
dc.contributor.authorAmato, Nancy M.en
dc.date.accessioned2016-02-25T13:34:52Zen
dc.date.available2016-02-25T13:34:52Zen
dc.date.issued2013-05en
dc.identifier.citationDenny J, Shi K, Amato NM (2013) Lazy Toggle PRM: A single-query approach to motion planning. 2013 IEEE International Conference on Robotics and Automation. Available: http://dx.doi.org/10.1109/ICRA.2013.6630904.en
dc.identifier.doi10.1109/ICRA.2013.6630904en
dc.identifier.urihttp://hdl.handle.net/10754/598710en
dc.description.abstractProbabilistic RoadMaps (PRMs) are quite suc-cessful in solving complex and high-dimensional motion plan-ning problems. While particularly suited for multiple-query scenarios and expansive spaces, they lack efficiency in both solving single-query scenarios and mapping narrow spaces. Two PRM variants separately tackle these gaps. Lazy PRM reduces the computational cost of roadmap construction for single-query scenarios by delaying roadmap validation until query time. Toggle PRM is well suited for mapping narrow spaces by mapping both Cfree and Cobst, which gives certain theoretical benefits. However, fully validating the two resulting roadmaps can be costly. We present a strategy, Lazy Toggle PRM, for integrating these two approaches into a method which is both suited for narrow passages and efficient single-query calculations. This simultaneously addresses two challenges of PRMs. Like Lazy PRM, Lazy Toggle PRM delays validation of roadmaps until query time, but if no path is found, the algorithm augments the roadmap using the Toggle PRM methodology. We demonstrate the effectiveness of Lazy Toggle PRM in a wide range of scenarios, including those with narrow passages and high descriptive complexity (e.g., those described by many triangles), concluding that it is more effective than existing methods in solving difficult queries. © 2013 IEEE.en
dc.description.sponsorshipThis research supported in part by NSF awards CNS-0551685, CCF-0833199, CCF-0830753, IIS-0917266, IIS-0916053, EFRI-1240483, RI-1217991, by NIH NCI R25 CA090301-11, by THECB NHARP award000512-0097-2009, by Chevron, IBM, Intel, Oracle/Sun and by AwardKUS-C1-016-04, made by King Abdullah University of Science and Technology(KAUST).en
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en
dc.titleLazy Toggle PRM: A single-query approach to motion planningen
dc.typeConference Paperen
dc.identifier.journal2013 IEEE International Conference on Robotics and Automationen
dc.contributor.institutionTexas A and M University, College Station, United Statesen
dc.contributor.institutionA and M Consolidated High School, College Station, United Statesen
kaust.grant.numberKUS-C1-016-04en
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