The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Quasi-randomized path planning
Abstract
We propose the use of quasi-random sampling techniques for path planning in high-dimensional configuration spaces. Following similar trends from related numerical computation fields, we show several advantages offered by these techniques in comparison to random sampling. Our ideas are evaluated in the context of the probabilistic roadmap (PRM) framework. Two quasi-random variants of PRM- based planners are proposed: 1) a classical PRM with quasi-random sampling; and 2) a quasi-random lazy-PRM. Both have been implemented, and are shown through experiments to offer some performance advantages in comparison to their randomized counterparts.
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Citations
Cites
Metropolis, N., & Ulam, S. (1949) · Journal of the American Statistical Association · doi:10.1080/01621459.1949.10483310 · Cited by 6,474
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 4×
“The description of PRM presented here is based roughly on the initial algorithm described in [15].”
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Cited by
Compositional Falsification of Cyber-Physical Systems with Machine Learning Components
Dreossi, T., Donzé, A., & Seshia, S. A. (2019) · Journal of Automated Reasoning · doi:10.1007/s10817-018-09509-5 · Cited by 124
Metadata
- Authors
- Branicky, M. S., LaValle, S. M., Olson, K., & Yang, L.
- Venue
- Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
- Publisher
- IEEE
- Published
- 2002-11-13
- Volume
- 2
- Pages
- 1481-1487
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2104171123
- Cited by
- 167
- References
- 2
- FWCI
- 8.85
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Branicky, M. S., LaValle, S. M., Olson, K., & Yang, L. (2002). Quasi-randomized path planning. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164). https://doi.org/10.1109/robot.2001.932820
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