The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Path planning in expansive configuration spaces
Abstract
We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomly-sampled milestones. The analysis of expansive configuration spaces has inspired us to develop a new randomized planning algorithm. This algorithm tries to sample only the portion of the configuration space that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire configuration space. Thus, it is well-suited for problems where a single query is submitted for a given environment. The algorithm has been implemented and successfully applied to complex assembly maintainability problems from the automotive industry.
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Cites
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Kavraki, L. E., Svestka, P., Latombe, J.-C., & Overmars, M. H. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.508439 · Cited by 6,343 · cited 3×
“Another planner, described in [12], uses random sampling to construct a probabilistic roadmap in the con guration space.”
BackgroundMethodSelf-citationOBBTree: a hierarchical structure for rapid interference detection
Gottschalk, S., Lin, M. C., & Manocha, D. (1996) · Proceedings of the 23rd annual conference on Computer graphics and interactive techniques · doi:10.1145/237170.237244 · Cited by 2,081
Cited by
RRT-connect: An efficient approach to single-query path planning
Kuffner, J. J., & LaValle, S. M. (2000) · Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) · doi:10.1109/robot.2000.844730 · Cited by 3,555
Randomized Kinodynamic Planning
LaValle, S. M., & Kuffner, J. J. (2001) · The International Journal of Robotics Research · doi:10.1177/02783640122067453 · Cited by 3,254
The Open Motion Planning Library
Sucan, I. A., Moll, M., & Kavraki, L. E. (2012) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2012.2205651 · Cited by 1,616
The bridge test for sampling narrow passages with probabilistic roadmap planners
Hsu, D., Jiang, T., Reif, J., & Sun, Z. (2004) · 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) · doi:10.1109/robot.2003.1242285 · Cited by 355
Self-citationMotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets
Chamzas, C., Quintero-Pena, C., Kingston, Z., Orthey, A., Rakita, D., Gleicher, M., Toussaint, M., & Kavraki, L. E. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3133603 · Cited by 59
Metadata
- Authors
- Hsu, D., Latombe, J.-C., & Motwani, R.
- Venue
- Proceedings of International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2002-11-22
- Volume
- 3
- Pages
- 2719-2726
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2171266831
- Cited by
- 552
- References
- 2
- FWCI
- 17.29
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Hsu, D., Latombe, J.-C., & Motwani, R. (2002). Path planning in expansive configuration spaces. Proceedings of International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1997.619371
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