Incremental Grid Sampling Strategies in Robotics

Stephen R. Lindemann, Anna Yershova, Steven M. LaValle

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

We present algorithms for generating deterministic sample sequences using incremental grid-based sampling. Our algorithms are designed to generate dense sample sequences over spaces common in robotics, such as the unit cube, SO(3), and SE(3). Our sampling techniques provide the advantageous properties of uniformity, lattice structure, and incremental quality. In addition, the inherent structure of grid-based sequences not only enables them to be used in the place of other sampling techniques in existing algorithms, but also permits the development of new algorithms aimed at exploiting this structure.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics VI
EditorsMichael Erdmann, Mark Overmars, A. Frank van der Stappen, Hsu Hsu
Pages313-328
Number of pages16
StatePublished - Dec 1 2005

Publication series

NameSpringer Tracts in Advanced Robotics
Volume17
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • Cite this

    Lindemann, S. R., Yershova, A., & LaValle, S. M. (2005). Incremental Grid Sampling Strategies in Robotics. In M. Erdmann, M. Overmars, A. F. van der Stappen, & H. Hsu (Eds.), Algorithmic Foundations of Robotics VI (pp. 313-328). (Springer Tracts in Advanced Robotics; Vol. 17).