Deterministic sampling methods for spheres and SO(3)

Anna Yershova, Steven M. LaValle

Research output: Contribution to journalConference articlepeer-review


This paper addresses the problem of generating uniform deterministic samples over the spheres and the three-dimensional rotation group, SO(3). The target applications include motion planning, optimization, and verification problems in robotics and in related areas, such as graphics, control theory and computational biology. We introduce an infinite sequence of samples that is shown to achieve: 1) low-dispersion, which aids in the development of resolution complete algorithms, 2) lattice structure, which allows easy neighbor identification that is comparable to what is obtained for a grid in ℝd, and 3) incremental quality, which is similar to that obtained by random sampling. The sequence is demonstrated in a sampling-based motion planning algorithm.

Original languageEnglish (US)
Pages (from-to)3974-3980
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number4
StatePublished - Jul 5 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

ASJC Scopus subject areas

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


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