Title | ||
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A Study On The Finite-Time Near-Optimality Properties Of Sampling-Based Motion Planners |
Abstract | ||
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Sampling-based algorithms have proven practical in solving motion planning challenges in relatively high-dimensional instances in geometrically complex workspaces. Early work focused on quickly returning feasible solutions. Only recently was it shown under which conditions these algorithms asymptotically return optimal or near-optimal solutions. These methods yield desired properties only in an asymptotic fashion, i.e., the properties are attained after infinite computation time. This work studies the finite-time properties of sampling-based planners in terms of path quality. The focus is on roadmap-based methods, due to their simplicity. This work illustrates that existing sampling-based planners which construct roadmaps in an asymptotically (near-) optimal manner exhibit a "probably near-optimal" property in finite time. This means that it is possible to compute a confidence value, i.e. a probability, regarding the existence of upper bounds for the length of the path returned by the roadmap as a function of the number of configuration space samples. This property can result in useful tools for determining existence of solutions and a probabilistic stopping criterion for PRM-like methods. These properties are validated through experimental trials. |
Year | DOI | Venue |
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2013 | 10.1109/IROS.2013.6696508 | 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Keywords | Field | DocType |
path planning,probability,sampling methods | Motion planning,Mathematical optimization,Computer science,Workspace,Sampling (statistics),Probabilistic logic,Configuration space,Finite time,Computation | Conference |
ISSN | Citations | PageRank |
2153-0858 | 4 | 0.43 |
References | Authors | |
8 | 2 |
Name | Order | Citations | PageRank |
---|---|---|---|
Andrew Dobson | 1 | 50 | 3.90 |
Kostas E. Bekris | 2 | 938 | 99.49 |