1. 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)
11/12/03
Algorithmic Robotics Lab Seminar

2. 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

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

4. 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

5. 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

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

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

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

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