@inproceedings{407c1e45a82b4f2f819d304f61407786,
title = "Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D",
abstract = "Motion planning is known to be difficult. Probabilistic planners have made great advances, but still have difficulty for problems that require planning in narrow passages or on surfaces in C space. This work proposes Toggle PRM, a new methodology for PRMs that simultaneously maps both free and obstacle space. In this paper, we focus on 2 DOF problems and show that mapping both spaces leads to increased sampling density in narrow passages and to improved overall efficiency as compared to previous sampling based approaches.",
author = "Jory Denny and Amato, {Nancy M.}",
year = "2011",
doi = "10.1109/IROS.2011.6048865",
language = "English (US)",
isbn = "9781612844541",
series = "IEEE International Conference on Intelligent Robots and Systems",
pages = "2632--2639",
booktitle = "IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",
note = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",
}