Customizing PRM roadmaps at query time

G. Song, S. Miller, N. M. Amato

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


In this paper, we propose a new approach for building and querying probabilistic roadmaps. In the roadmap construction stage, we build coarse roadmaps by performing only an approximate validation of the roadmap nodes and/or edges. In the query stage, the roadmap is validated and refined only in the area of interest for the query, and moreover; is customized in accordance with any specified query preferences. This approach, which postpones some of the validation checks (e.g., collision check) to the query phase, yields more efficient solutions to many problems. An important benefit of our approach is that it gives one the ability to customize the same roadmap in accordance with multiple, variable, query preferences. For example, our approach enables one to find a path which maintains a particular clearance, or makes at most some specified number of sharp turns. Our preliminary results on problems drawn from diverse application domains show that this new approach dramatically improves performance, and show s remarkable flexibility when adapting to different query requirements.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)0780365763
StatePublished - 2001
Externally publishedYes
Event2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

Publication series

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


Conference2001 IEEE International Conference on Robotics and Automation (ICRA)
Country/TerritoryKorea, Republic of

ASJC Scopus subject areas

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

Cite this