Algorithmic Robotics Lab Seminar

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Presentation transcript:

Algorithmic Robotics Lab Seminar S. M. LaValle (UIUC), M. S. Branicky (Case Western), and S. R. Lindemann. On the relationship between classical grid search and probabilistic roadmaps International Journal of Robotics Research. (to appear) http://msl.cs.uiuc.edu/~lavalle/papers.html#SBMP 11/12/03 Algorithmic Robotics Lab Seminar

Probabilistic Planning Probabilistic Roadmap Methods (Overmars, Kavraki, Amato, Han) Worst-case number of components is exponential in worst-case sampling time is exponential in 11/12/03 Algorithmic Robotics Lab Seminar

Algorithmic Robotics Lab Seminar Building the PRM Lazy PRM Drop line 6 Collision checking occurs during search 11/12/03 Algorithmic Robotics Lab Seminar

Algorithmic Robotics Lab Seminar Dispersion Values 0.12 0.13 0.09 0.07 0.066 0.05 11/12/03 Algorithmic Robotics Lab Seminar

Algorithmic Robotics Lab Seminar Spectrum of Planners Remove cost of finding nearest neighbors Derandomize PRM. Remove large uncovered regions. 11/12/03 Algorithmic Robotics Lab Seminar

Algorithmic Robotics Lab Seminar 11/12/03 Algorithmic Robotics Lab Seminar

Algorithmic Robotics Lab Seminar Resolution of first solution Radius for local connections Resolution for guaranteed solution 11/12/03 Algorithmic Robotics Lab Seminar

Algorithmic Robotics Lab Seminar Moving the truck 11/12/03 Algorithmic Robotics Lab Seminar

Algorithmic Robotics Lab Seminar 11/12/03 Algorithmic Robotics Lab Seminar