A region-based strategy for collaborative roadmap construction

Jory Denny, Read Sandström, Nicole Julian, Nancy M. Amato

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

Abstract

Motion planning has seen much attention over the past two decades. A great deal of progress has been made in sampling-based planning, whereby a planner builds an approximate representation of the planning space. While these planners have demonstrated success inmany scenarios, there are still difficult problems where they lack robustness or efficiency, e.g., certain types of narrow spaces. Conversely, human intuition can often determine an approximate solution to these problems quite effectively, but humans lack the speed and precision necessary to perform the corresponding low-level tasks (such as collision checking) in a timely manner. In this work, we introduce a novel strategy called Region Steering in which the user and a PRM planner work cooperatively to map the space while maintaining the probabilistic completeness property of the PRMplanner. Region Steering utilizes two-way communication to integrate the strengths of both the user and the planner, thereby overcoming the weaknesses inherent to relying on either one alone. In one communication direction, a user can input regions, or bounding volumes in the workspace, to bias sampling towards or away from these areas. In the other direction, the planner displays its progress to the user and colors the regions based on their perceived usefulness.We demonstrate that Region Steering provides roadmap customizability, reduced mapping time, and smaller roadmap sizes compared with fully automated PRMs, e.g., Gaussian PRM.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
EditorsA. Frank van der Stappen, H. Levent Akin, Nancy M. Amato, Volkan Isler
PublisherSpringer-Verlag Berlin Heidelberg
Pages125-141
Number of pages17
ISBN (Print)9783319165943
DOIs
StatePublished - 2015
Externally publishedYes
Event11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 - Istanbul, Turkey
Duration: Aug 3 2014Aug 5 2014

Publication series

NameSpringer Tracts in Advanced Robotics
Volume107
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
CountryTurkey
CityIstanbul
Period8/3/148/5/14

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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