The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
MAPRM: a probabilistic roadmap planner with sampling on the medial axis of the free space
Abstract
Probabilistic roadmap planning methods have been shown to perform well in a number of practical situations, but their performance degrades when paths are required to pass through narrow passages in the free space. We propose a new method of sampling the configuration space in which randomly generated configurations, free or not, are retracted onto the medial axis of the free space. We give algorithms that perform this retraction while avoiding explicit computation of the medial axis, and we show that sampling and retracting in this manner increases the number of nodes found in small volume corridors in a way that is independent of the volume of the corridor and depends only on the characteristics of the obstacles bounding it. Theoretical and experimental results are given to show that this improves performance on problems requiring traversal of narrow passages.
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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 by
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
Metadata
- Authors
- Wilmarth, S. A., Amato, N. M., & Stiller, P. F.
- Venue
- Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
- Publisher
- IEEE
- Published
- 2003-01-20
- Volume
- 2
- Pages
- 1024-1031
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1937587174
- Cited by
- 338
- References
- 1
- FWCI
- 21.96
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: MAPRM: a probabilistic roadmap planner with sampling on the medial axis of the free space. https://app.cochat.ai/papers/10.1109/robot.1999.772448
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- Wilmarth, S. A., Amato, N. M., & Stiller, P. F. (2003). MAPRM: a probabilistic roadmap planner with sampling on the medial axis of the free space. Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C). https://doi.org/10.1109/robot.1999.772448
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