Handle URI:
http://hdl.handle.net/10754/600123
Title:
UMAPRM: Uniformly sampling the medial axis
Authors:
Yeh, Hsin-Yi Cindy; Denny, Jory; Lindsey, Aaron; Thomas, Shawna; Amato, Nancy M.
Abstract:
© 2014 IEEE. Maintaining clearance, or distance from obstacles, is a vital component of successful motion planning algorithms. Maintaining high clearance often creates safer paths for robots. Contemporary sampling-based planning algorithms That utilize The medial axis, or The set of all points equidistant To Two or more obstacles, produce higher clearance paths. However, They are biased heavily Toward certain portions of The medial axis, sometimes ignoring parts critical To planning, e.g., specific Types of narrow passages. We introduce Uniform Medial Axis Probabilistic RoadMap (UMAPRM), a novel planning variant That generates samples uniformly on The medial axis of The free portion of Cspace. We Theoretically analyze The distribution generated by UMAPRM and show its uniformity. Our results show That UMAPRM's distribution of samples along The medial axis is not only uniform but also preferable To other medial axis samplers in certain planning problems. We demonstrate That UMAPRM has negligible computational overhead over other sampling Techniques and can solve problems The others could not, e.g., a bug Trap. Finally, we demonstrate UMAPRM successfully generates higher clearance paths in The examples.
Citation:
Yeh H-YC, Denny J, Lindsey A, Thomas S, Amato NM (2014) UMAPRM: Uniformly sampling the medial axis. 2014 IEEE International Conference on Robotics and Automation (ICRA). Available: http://dx.doi.org/10.1109/ICRA.2014.6907711.
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Journal:
2014 IEEE International Conference on Robotics and Automation (ICRA)
KAUST Grant Number:
KUS-C1-016-04
Issue Date:
May-2014
DOI:
10.1109/ICRA.2014.6907711
Type:
Conference Paper
Sponsors:
This research supported in part by NSF awards CNS-0551685, CCF-0833199, CCF-0830753, IIS-0916053, IIS-0917266, EFRI-1240483, RI-1217991, by NIH NCI R25 CA090301-11, by Chevron, IBM, Intel, Oracle/Sun and by Award KUS-C1-016-04, made by King Abdullah Universityof Science and Technology (KAUST). J. Denny supported in part by anNSF Graduate Research Fellowship.
Appears in Collections:
Publications Acknowledging KAUST Support

Full metadata record

DC FieldValue Language
dc.contributor.authorYeh, Hsin-Yi Cindyen
dc.contributor.authorDenny, Joryen
dc.contributor.authorLindsey, Aaronen
dc.contributor.authorThomas, Shawnaen
dc.contributor.authorAmato, Nancy M.en
dc.date.accessioned2016-02-28T06:43:10Zen
dc.date.available2016-02-28T06:43:10Zen
dc.date.issued2014-05en
dc.identifier.citationYeh H-YC, Denny J, Lindsey A, Thomas S, Amato NM (2014) UMAPRM: Uniformly sampling the medial axis. 2014 IEEE International Conference on Robotics and Automation (ICRA). Available: http://dx.doi.org/10.1109/ICRA.2014.6907711.en
dc.identifier.doi10.1109/ICRA.2014.6907711en
dc.identifier.urihttp://hdl.handle.net/10754/600123en
dc.description.abstract© 2014 IEEE. Maintaining clearance, or distance from obstacles, is a vital component of successful motion planning algorithms. Maintaining high clearance often creates safer paths for robots. Contemporary sampling-based planning algorithms That utilize The medial axis, or The set of all points equidistant To Two or more obstacles, produce higher clearance paths. However, They are biased heavily Toward certain portions of The medial axis, sometimes ignoring parts critical To planning, e.g., specific Types of narrow passages. We introduce Uniform Medial Axis Probabilistic RoadMap (UMAPRM), a novel planning variant That generates samples uniformly on The medial axis of The free portion of Cspace. We Theoretically analyze The distribution generated by UMAPRM and show its uniformity. Our results show That UMAPRM's distribution of samples along The medial axis is not only uniform but also preferable To other medial axis samplers in certain planning problems. We demonstrate That UMAPRM has negligible computational overhead over other sampling Techniques and can solve problems The others could not, e.g., a bug Trap. Finally, we demonstrate UMAPRM successfully generates higher clearance paths in The examples.en
dc.description.sponsorshipThis research supported in part by NSF awards CNS-0551685, CCF-0833199, CCF-0830753, IIS-0916053, IIS-0917266, EFRI-1240483, RI-1217991, by NIH NCI R25 CA090301-11, by Chevron, IBM, Intel, Oracle/Sun and by Award KUS-C1-016-04, made by King Abdullah Universityof Science and Technology (KAUST). J. Denny supported in part by anNSF Graduate Research Fellowship.en
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en
dc.titleUMAPRM: Uniformly sampling the medial axisen
dc.typeConference Paperen
dc.identifier.journal2014 IEEE International Conference on Robotics and Automation (ICRA)en
dc.contributor.institutionTexas A and M University, College Station, United Statesen
kaust.grant.numberKUS-C1-016-04en
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