TY - CHAP
T1 - Incremental Grid Sampling Strategies in Robotics
AU - Lindemann, Stephen R.
AU - Yershova, Anna
AU - LaValle, Steven M.
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84864444695
UR - https://www.scopus.com/inward/citedby.url?scp=84864444695&partnerID=8YFLogxK
U2 - 10.1007/10991541_22
DO - 10.1007/10991541_22
M3 - Chapter
AN - SCOPUS:84864444695
SN - 9783540257288
T3 - Springer Tracts in Advanced Robotics
SP - 313
EP - 328
BT - Algorithmic Foundations of Robotics VI
PB - Springer
ER -