Toggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimension

Handle URI:
http://hdl.handle.net/10754/600033
Title:
Toggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimension
Authors:
Denny, Jory; Amatoo, Nancy M.
Abstract:
Motion planning has received much attention over the past 40 years. More than 15 years have passed since the introduction of the successful sampling-based approach known as the Probabilistic RoadMap Method (PRM). PRM and its many variants have demonstrated great success for some high-dimensional problems, but they all have some level of difficulty in the presence of narrow passages. Recently, an approach called Toggle PRM has been introduced whose performance does not degrade for 2-dimensional problems with narrow passages. In Toggle PRM, a simultaneous, coordinated mapping of both C free and C obst is performed and every connection attempt augments one of the maps – either validating an edge in the current space or adding a configuration ’witnessing’ the connection failure to the other space. In this paper, we generalize Toggle PRM to d-dimensions and show that the benefits of mapping both C free and C obst continue to hold in higher dimensions. In particular, we introduce a new narrow passage characterization, α-ε-separable narrow passages, which describes the types of passages that can be successfully mapped by Toggle PRM. Intuitively, α-ε-separable narrow passages are arbitrarily narrow regions of C free that separate regions of C obst , at least locally, such as hallways in an office building. We experimentally compare Toggle PRM with other methods in a variety of scenarios with different types of narrow passages and robots with up to 16 dof.
Citation:
Denny J, Amatoo NM (2013) Toggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimension. Algorithmic Foundations of Robotics X: 297–312. Available: http://dx.doi.org/10.1007/978-3-642-36279-8_18.
Publisher:
Springer Science + Business Media
Journal:
Algorithmic Foundations of Robotics X
KAUST Grant Number:
KUS-C1-016-04
Issue Date:
2013
DOI:
10.1007/978-3-642-36279-8_18
Type:
Book Chapter
ISSN:
1610-7438; 1610-742X
Sponsors:
This research supported in part by NSF awards CRI-0551685, CCF-0833199, CCF-0830753, IIS-096053, IIS-0917266by THECB NHARP award 000512-0097-2009, by Chevron, IBM, by Award KUS-C1-016-04, made by King Abdullah University ofScience and Technology (KAUST). Denny supported in part by an AFS Merit Fellowship,Texas A&M University.
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Publications Acknowledging KAUST Support

Full metadata record

DC FieldValue Language
dc.contributor.authorDenny, Joryen
dc.contributor.authorAmatoo, Nancy M.en
dc.date.accessioned2016-02-28T06:34:44Zen
dc.date.available2016-02-28T06:34:44Zen
dc.date.issued2013en
dc.identifier.citationDenny J, Amatoo NM (2013) Toggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimension. Algorithmic Foundations of Robotics X: 297–312. Available: http://dx.doi.org/10.1007/978-3-642-36279-8_18.en
dc.identifier.issn1610-7438en
dc.identifier.issn1610-742Xen
dc.identifier.doi10.1007/978-3-642-36279-8_18en
dc.identifier.urihttp://hdl.handle.net/10754/600033en
dc.description.abstractMotion planning has received much attention over the past 40 years. More than 15 years have passed since the introduction of the successful sampling-based approach known as the Probabilistic RoadMap Method (PRM). PRM and its many variants have demonstrated great success for some high-dimensional problems, but they all have some level of difficulty in the presence of narrow passages. Recently, an approach called Toggle PRM has been introduced whose performance does not degrade for 2-dimensional problems with narrow passages. In Toggle PRM, a simultaneous, coordinated mapping of both C free and C obst is performed and every connection attempt augments one of the maps – either validating an edge in the current space or adding a configuration ’witnessing’ the connection failure to the other space. In this paper, we generalize Toggle PRM to d-dimensions and show that the benefits of mapping both C free and C obst continue to hold in higher dimensions. In particular, we introduce a new narrow passage characterization, α-ε-separable narrow passages, which describes the types of passages that can be successfully mapped by Toggle PRM. Intuitively, α-ε-separable narrow passages are arbitrarily narrow regions of C free that separate regions of C obst , at least locally, such as hallways in an office building. We experimentally compare Toggle PRM with other methods in a variety of scenarios with different types of narrow passages and robots with up to 16 dof.en
dc.description.sponsorshipThis research supported in part by NSF awards CRI-0551685, CCF-0833199, CCF-0830753, IIS-096053, IIS-0917266by THECB NHARP award 000512-0097-2009, by Chevron, IBM, by Award KUS-C1-016-04, made by King Abdullah University ofScience and Technology (KAUST). Denny supported in part by an AFS Merit Fellowship,Texas A&M University.en
dc.publisherSpringer Science + Business Mediaen
dc.titleToggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimensionen
dc.typeBook Chapteren
dc.identifier.journalAlgorithmic Foundations of Robotics Xen
dc.contributor.institutionParasol Lab, Department of Computer Science and Engineering, Texas A&M University, College Station, TX, USAen
kaust.grant.numberKUS-C1-016-04en
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