Efficiently biasing PRMs with passage potentials

Roman Katz, Seth Hutchinson

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

Abstract

This paper presents a passage potential based biasing scheme for PRMs to specifically address the narrow passage problem. The biasing strategy fulfills minimum requirements for an efficient biasing, considering not only location issues, but also intensity, sparseness and applicability of the biasing criterion. Conforming to these features a particular family of passage potential functions has been defined and integrated within a basic PRM to achieve biasing. Simulations have demonstrated the reliable and successful implementation of the proposed architecture under several experimental settings and robot configurations.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages889-894
Number of pages6
DOIs
StatePublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

ASJC Scopus subject areas

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

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  • Cite this

    Katz, R., & Hutchinson, S. (2006). Efficiently biasing PRMs with passage potentials. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 889-894). [1641822] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641822