C-space subdivision and integration in feature-sensitive motion planning

Marco A.A. Morales, Lydia Tapia, Roger Pearce, Samuel Rodriguez, Nancy M. Amato

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

Abstract

There are many randomized motion planning techniques, but it is often difficult to determine what planning method to apply to best solve a problem. Planners have their own strengths and weaknesses, and each one is best suited to a specific type of problem. In previous work, we proposed a meta-planner that, through analysis of the problem features, subdivides the instance into regions and determines which planner to apply in each region. The results obtained with our prototype system were very promising even though it utilized simplistic strategies for all components. Even so, we did determine that strategies for problem subdivision and for combination of partial regional solutions have a crucial impact on performance. In this paper, we propose new methods for these steps to improve the performance of the meta-planner. For problem subdivision, we propose two new methods: a method based on 'gaps' and a method based on information theory. For combining partial solutions, we propose two new methods that concentrate on neighboring areas of the regional solutions. We present results that show the performance gain achieved by utilizing these new strategies.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages3114-3119
Number of pages6
DOIs
StatePublished - 2005
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
Country/TerritorySpain
CityBarcelona
Period4/18/054/22/05

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'C-space subdivision and integration in feature-sensitive motion planning'. Together they form a unique fingerprint.

Cite this