On the theory of user-guided planning

Jory Denny, Jonathan Colbert, Hongsen Qin, Nancy M. Amato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4794-4801
Number of pages8
ISBN (Electronic)9781509037629
DOIs
StatePublished - Nov 28 2016
Externally publishedYes
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period10/9/1610/14/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Denny, J., Colbert, J., Qin, H., & Amato, N. M. (2016). On the theory of user-guided planning. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4794-4801). [7759704] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759704