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    Reachable Distance Space: Efficient Sampling-Based Planning for Spatially Constrained Systems

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    Type
    Article
    Authors
    Xinyu Tang,
    Thomas, S.
    Coleman, P.
    Amato, N. M.
    KAUST Grant Number
    KUS-C1-016-04
    Date
    2010-01-25
    Online Publication Date
    2010-01-25
    Print Publication Date
    2010-06
    Permanent link to this record
    http://hdl.handle.net/10754/599451
    
    Metadata
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    Abstract
    Motion planning for spatially constrained robots is difficult due to additional constraints placed on the robot, such as closure constraints for closed chains or requirements on end-effector placement for articulated linkages. It is usually computationally too expensive to apply sampling-based planners to these problems since it is difficult to generate valid configurations. We overcome this challenge by redefining the robot's degrees of freedom and constraints into a new set of parameters, called reachable distance space (RD-space), in which all configurations lie in the set of constraint-satisfying subspaces. This enables us to directly sample the constrained subspaces with complexity linear in the number of the robot's degrees of freedom. In addition to supporting efficient sampling of configurations, we show that the RD-space formulation naturally supports planning and, in particular, we design a local planner suitable for use by sampling-based planners. We demonstrate the effectiveness and efficiency of our approach for several systems including closed chain planning with multiple loops, restricted end-effector sampling, and on-line planning for drawing/sculpting. We can sample single-loop closed chain systems with 1,000 links in time comparable to open chain sampling, and we can generate samples for 1,000-link multi-loop systems of varying topologies in less than a second. © 2010 The Author(s).
    Citation
    Xinyu Tang, Thomas S, Coleman P, Amato NM (2010) Reachable Distance Space: Efficient Sampling-Based Planning for Spatially Constrained Systems. The International Journal of Robotics Research 29: 916–934. Available: http://dx.doi.org/10.1177/0278364909357643.
    Sponsors
    This research supported in part by NSF Grants EIA-0103742, ACR-0113971, CCR-0113974, ACI-0326350, CRI-0551685, CCF-0833199, CCF-0830753, by Chevron, IBM, Intel, HP, and by King Abdullah University of Science and Technology (KAUST) Award KUS-C1-016-04. S. Thomas was supported in part by a NSF Graduate Research Fellowship, a PEO Scholarship, a Department of Education Graduate Fellowship (GAANN), and an IBM T.J. Watson PhD Fellowship. The work of X. Tang was performed when he was a PhD student in the Department of Computer Science and Engineering at Texas A&M University.
    Publisher
    SAGE Publications
    Journal
    The International Journal of Robotics Research
    DOI
    10.1177/0278364909357643
    ae974a485f413a2113503eed53cd6c53
    10.1177/0278364909357643
    Scopus Count
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