Class 4 (April 15):
PROBABILISTIC ROADMAPS -- BASIC TECHNIQUES
- Topics:
- Principle and rationale of probabilistic roadmaps
- Convergence of PRM planners
- Required Readings:
- Basic description of probabilistic roadmap
framework:
L.E. Kavraki, P. Svestka, J.C. Latombe, and M. Overmars.
Probabilistic Roadmaps for Path Planning in High-Dimensional
Configuration Spaces. IEEE Transactions on Robotics and
Automation, 12(4):566-580, 1996
ps file.
- Analysis of probabilistic completeness in expansive
space:
D. Hsu, J.C. Latombe, and R. Motwani. Path Planning in Expansive
Configuration Spaces. Int. J. of Computational Geometry and
Applications, 9(4-5):495-512, 1999.
ps
file.
- Other Readings:
- Probabilistic roadmaps:
A number of papers can be found at the websites of:
-
Lydia Kavraki
-
Nancy Amato
-
Mark Overmars
-
Steve LaValle
- Paper on epsilon-goodness (may be useful when reading
the second required paper):
L. Kavraki, J.C. Latombe, R. Mowani, and P. Raghavan.
Randomized Query Processing in Robot Motion Planning.
J. of Computer and System Sciences, 57(1):50-60, 1998.
ps file.
- Powerpoint slides: