Title: Path planning in expansive configuration spaces
Abstract: We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomly-sampled milestones. The analysis of expansive configuration spaces has inspired us to develop a new randomized planning algorithm. This algorithm tries to sample only the portion of the configuration space that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire configuration space. Thus, it is well-suited for problems where a single query is submitted for a given environment. The algorithm has been implemented and successfully applied to complex assembly maintainability problems from the automotive industry.
Publication Year: 2002
Publication Date: 2002-11-22
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 434
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