TY - GEN
T1 - Motion planning using hierarchical aggregation of workspace obstacles
AU - Ghosh, Mukulika
AU - Thomas, Shawna
AU - Morales, Marco
AU - Rodriguez, Sam
AU - Amato, Nancy M.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - Sampling-based motion planning is the state-oftheart technique for solving challenging motion planning problems in a wide variety of domains. While generally successful, their performance suffers from increasing problem complexity. In many cases, the full problem complexity is not needed for the entire solution. We present a hierarchical aggregation framework that groups and models sets of obstacles based on the currently needed level of detail. The hierarchy enables sampling to be performed using the simplest and most conservative representation of the environment possible in that region. Our results show that this scheme improves planner performance irrespective of the underlying sampling method and input problem. In many cases, improvement is significant, with running times often less than 60% of the original planning time.
AB - Sampling-based motion planning is the state-oftheart technique for solving challenging motion planning problems in a wide variety of domains. While generally successful, their performance suffers from increasing problem complexity. In many cases, the full problem complexity is not needed for the entire solution. We present a hierarchical aggregation framework that groups and models sets of obstacles based on the currently needed level of detail. The hierarchy enables sampling to be performed using the simplest and most conservative representation of the environment possible in that region. Our results show that this scheme improves planner performance irrespective of the underlying sampling method and input problem. In many cases, improvement is significant, with running times often less than 60% of the original planning time.
UR - http://www.scopus.com/inward/record.url?scp=85006380734&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85006380734&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759841
DO - 10.1109/IROS.2016.7759841
M3 - Conference contribution
AN - SCOPUS:85006380734
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5716
EP - 5721
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -