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

Jory Denny; Nancy M. Amato

doi:10.1109/iros.2011.6095102

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 proceeding › Conference contribution

37 Scopus citations

Abstract

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 language	English (US)
Title of host publication	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
ISBN (Print)	9781612844565
DOIs	https://doi.org/10.1109/iros.2011.6095102
State	Published - Sep 2011
Externally published	Yes

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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10.1109/iros.2011.6095102

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

abstract = "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.",

author = "Jory Denny and Amato, {Nancy M.}",

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.",

year = "2011",

month = sep,

doi = "10.1109/iros.2011.6095102",

language = "English (US)",

isbn = "9781612844565",

booktitle = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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T1 - Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -

AU - Denny, Jory

AU - Amato, Nancy M.

N1 - 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.

PY - 2011/9

Y1 - 2011/9

N2 - 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.

AB - 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.

UR - http://hdl.handle.net/10754/600034

UR - http://ieeexplore.ieee.org/document/6095102/

U2 - 10.1109/iros.2011.6095102

DO - 10.1109/iros.2011.6095102

M3 - Conference contribution

SN - 9781612844565

BT - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -

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

Abstract

Bibliographical note

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