Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -

Handle URI:
http://hdl.handle.net/10754/600034
Title:
Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -
Authors:
Denny, Jory; Amato, Nancy M.
Abstract:
Motion planning is known to be difficult. Probabilistic planners have made great advances, but still have difficulty for problems that require planning in narrow passages or on surfaces in Cspace. This work proposes Toggle PRM, a new methodology for PRMs that simultaneously maps both free and obstacle space. In this paper, we focus on 2 DOF problems and show that mapping both spaces leads to increased sampling density in narrow passages and to improved overall efficiency as compared to previous sampling based approaches.
Citation:
Denny J, Amato NM (2011) Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. Available: http://dx.doi.org/10.1109/iros.2011.6095102.
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Journal:
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
KAUST Grant Number:
KUS-C1-016-04
Issue Date:
Sep-2011
DOI:
10.1109/iros.2011.6095102
Type:
Conference Paper
Sponsors:
This research supported in part by NSF Grants EIA-0103742, ACR-0081510, ACR-0113971, CCR-0113974, ACI-0326350, CRI-0551685, CCF-0833199, CCF-0830753, by the DOE, Chevron, IBM, Intel, HP, and by King Abdullah University of Science and Technology (KAUST) Award KUS-C1-016-04.
Appears in Collections:
Publications Acknowledging KAUST Support

Full metadata record

DC FieldValue Language
dc.contributor.authorDenny, Joryen
dc.contributor.authorAmato, Nancy M.en
dc.date.accessioned2016-02-28T06:34:44Zen
dc.date.available2016-02-28T06:34:44Zen
dc.date.issued2011-09en
dc.identifier.citationDenny J, Amato NM (2011) Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. Available: http://dx.doi.org/10.1109/iros.2011.6095102.en
dc.identifier.doi10.1109/iros.2011.6095102en
dc.identifier.urihttp://hdl.handle.net/10754/600034en
dc.description.abstractMotion planning is known to be difficult. Probabilistic planners have made great advances, but still have difficulty for problems that require planning in narrow passages or on surfaces in Cspace. This work proposes Toggle PRM, a new methodology for PRMs that simultaneously maps both free and obstacle space. In this paper, we focus on 2 DOF problems and show that mapping both spaces leads to increased sampling density in narrow passages and to improved overall efficiency as compared to previous sampling based approaches.en
dc.description.sponsorshipThis research supported in part by NSF Grants EIA-0103742, ACR-0081510, ACR-0113971, CCR-0113974, ACI-0326350, CRI-0551685, CCF-0833199, CCF-0830753, by the DOE, Chevron, IBM, Intel, HP, and by King Abdullah University of Science and Technology (KAUST) Award KUS-C1-016-04.en
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en
dc.titleToggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -en
dc.typeConference Paperen
dc.identifier.journal2011 IEEE/RSJ International Conference on Intelligent Robots and Systemsen
dc.contributor.institutionParasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, Texas, 77843-3112, USAen
kaust.grant.numberKUS-C1-016-04en
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