RESAMPL: A region-sensitive adaptive motion planner

Samuel Rodriguez, Shawna Thomas, Roger Pearce, Nancy M. Amato

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


Automatic motion planning has applications ranging from traditional robotics to computer-aided design to computational biology and chemistry. While randomized planners, such as probabilistic roadmap methods (PRMs) or rapidly-exploring random trees (RRT), have been highly successful in solving many high degree of freedom problems, there are still many scenarios in which we need better methods, e.g., problems involving narrow passages or which contain multiple regions that are best suited to different planners. In this work, we present RESAMPL, a motion planning strategy that uses local region information to make intelligent decisions about how and where to sample, which samples to connect together, and to find paths through the environment. Briefly, RESAMPL classifies regions based on the entropy of the samples in it, and then uses these classifications to further refine the sampling. Regions are placed in a region graph that encodes relationships between regions, e.g., edges correspond to overlapping regions. The strategy for connecting samples is guided by the region graph, and can be exploited in both multi-query and single-query scenarios. Our experimental results comparing RESAMPL to previous multi-query and single-query methods show that RESAMPL is generally significantly faster and also usually requires fewer samples to solve the problem.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics
Number of pages16
StatePublished - 2008
Externally publishedYes
Event7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006 - New York, NY, United States
Duration: Jul 16 2006Jul 18 2006

Publication series

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


Other7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006
Country/TerritoryUnited States
CityNew York, NY

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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