TY - GEN
T1 - On the theory of user-guided planning
AU - Denny, Jory
AU - Colbert, Jonathan
AU - Qin, Hongsen
AU - Amato, Nancy M.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - Sampling-based techniques are often employed to solve various complex motion planning problems-the problem of computing a valid path under various robot and/or obstacle constraints. As these methods are random in nature, the probability of their success is directly related to the expansiveness, or openness, of the underlying planning space. However, little is known theoretically in qualifying the conditions under which user (human)-guided approaches improve the efficiency of sampling-based planners. In this paper, we classify and create simplistic models of common user-guided approaches, and we extend the concept of expansiveness to analyze these models to understand both when and how much user-guidance aids sampling-based planners.
AB - Sampling-based techniques are often employed to solve various complex motion planning problems-the problem of computing a valid path under various robot and/or obstacle constraints. As these methods are random in nature, the probability of their success is directly related to the expansiveness, or openness, of the underlying planning space. However, little is known theoretically in qualifying the conditions under which user (human)-guided approaches improve the efficiency of sampling-based planners. In this paper, we classify and create simplistic models of common user-guided approaches, and we extend the concept of expansiveness to analyze these models to understand both when and how much user-guidance aids sampling-based planners.
UR - http://www.scopus.com/inward/record.url?scp=85006337642&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2016.7759704
DO - 10.1109/IROS.2016.7759704
M3 - Conference contribution
AN - SCOPUS:85006337642
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4794
EP - 4801
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 -