The DOI matches its Crossref record; 27 of the 27 references it cites were found in a registry or an index.
CHOMP: Gradient optimization techniques for efficient motion planning
Open accessAbstract
Existing high-dimensional motion planning algorithms are simultaneously overpowered and underpowered. In domains sparsely populated by obstacles, the heuristics used by sampling-based planners to navigate “narrow passages” can be needlessly complex; furthermore, additional post-processing is required to remove the jerky or extraneous motions from the paths that such planners generate. In this paper, we present CHOMP, a novel method for continuous path refinement that uses covariant gradient techniques to improve the quality of sampled trajectories. Our optimization technique both optimizes higher-order dynamics and is able to converge over a wider range of input paths relative to previous path optimization strategies. In particular, we relax the collision-free feasibility prerequisite on input paths required by those strategies. As a result, CHOMP can be used as a standalone motion planner in many real-world planning queries. We demonstrate the effectiveness of our proposed method in manipulation planning for a 6-DOF robotic arm as well as in trajectory generation for a walking quadruped robot.
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Cites
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Cited by
The YCB object and model set: Towards common benchmarks for manipulation research
Calli, B., Singh, A., Walsman, A., Srinivasa, S., Abbeel, P., & Dollar, A. M. (2015) · 2015 International Conference on Advanced Robotics (ICAR) · doi:10.1109/icar.2015.7251504 · Cited by 838
Self-citation(2013) · doi:10.1109/hri.2013.6483603 · Cited by 595
Self-citationCommonRoad: Composable benchmarks for motion planning on roads
Althoff, M., Koschi, M., & Manzinger, S. (2017) · 2017 IEEE Intelligent Vehicles Symposium (IV) · doi:10.1109/ivs.2017.7995802 · Cited by 443
Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping
Bosse, M., Zlot, R., & Flick, P. (2012) · IEEE Transactions on Robotics · doi:10.1109/tro.2012.2200990 · Cited by 399
A policy-blending formalism for shared control
Dragan, A. D., & Srinivasa, S. S. (2013) · The International Journal of Robotics Research · doi:10.1177/0278364913490324 · Cited by 387
Self-citation
Metadata
- Authors
- Ratliff, N., Zucker, M., Bagnell, J. A., & Srinivasa, S.
- Venue
- 2009 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2009-05
- Pages
- 489-494
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2099893201
- Cited by
- 992
- References
- 27
- FWCI
- 13.90
- Type
- conference paper
- Language
- en
- Open access
- green
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- Ratliff, N., Zucker, M., Bagnell, J. A., & Srinivasa, S. (2009). CHOMP: Gradient optimization techniques for efficient motion planning. 2009 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.2009.5152817
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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