TY - GEN
T1 - Efficiently biasing PRMs with passage potentials
AU - Katz, Roman
AU - Hutchinson, Seth
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33845669142&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845669142&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641822
DO - 10.1109/ROBOT.2006.1641822
M3 - Conference contribution
AN - SCOPUS:33845669142
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 889
EP - 894
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -