Class 4 (April 17) :
SAMPLING AND CONNECTION STRATEGIES IN PROBABILISTIC ROADMAPS
- Topics:
- Multi-query vs. single-query sampling
- Multi-stage sampling
- Obstacle-sensitive sampling
- Narrow-passage sampling
- Diffusion strategies
- Delayed collision checking
- Visibility-based connection
- Required Readings:
- Delayed collision checking [Skip the part on multi-robot
planning that is not relevant to this class):
G. Sanchez and J.C. Latombe. On delaying Collision Checking in
PRM Planning -- Application to Multi-Robot Coordination.
To appear in Int. J. of Robotics Research
pdf.
- Visibility-based roadmaps:
T. Simeon, J.P Laumond, and C. Nissoux.
Visibility-Based Probabilistic Roadmaps for Motion Planning.
Advanced Robotics J., 14(6), 2000.
ps file.
- Other Readings:
- Use of medial-axis transform:
S.A. Wilmarth, N.M. Amato, P.F. Stiller.
Motion Planning for a Rigid Body Using Random Networks
on the Medial Axis of the Free Space.
Proceedings of the 15th Annual ACM
Symposium on Computational Geometry (SoCG'99), pages 173-180,
June 1999 ps file.
- Gaussian sampling:
V. Boor, M.H. Overmars, A.F. van der Stappen.
The Gaussian sampling strategy for probabilistic roadmap planners.
Proceedings of the IEEE International Conference on Robotics
and Automation,
pp. 1018-1023, 1999 ps file.
- Powerpoint slides: