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

Jory Denny, Nancy M. Amato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

37 Scopus citations


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.
Original languageEnglish (US)
Title of host publication2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISBN (Print)9781612844565
StatePublished - Sep 2011
Externally publishedYes

Bibliographical note

KAUST Repository Item: Exported on 2020-10-01
Acknowledged KAUST grant number(s): KUS-C1-016-04
Acknowledgements: 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.
This publication acknowledges KAUST support, but has no KAUST affiliated authors.


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