Sample-Based Planning with Volumes in Configuration Space
Robotics
2011-09-15 v1
Abstract
A simple sample-based planning method is presented which approximates connected regions of free space with volumes in Configuration space instead of points. The algorithm produces very sparse trees compared to point-based planning approaches, yet it maintains probabilistic completeness guarantees. The planner is shown to improve performance on a variety of planning problems, by focusing sampling on more challenging regions of a planning problem, including collision boundary areas such as narrow passages.
Cite
@article{arxiv.1109.3145,
title = {Sample-Based Planning with Volumes in Configuration Space},
author = {Alexander Shkolnik and Russ Tedrake},
journal= {arXiv preprint arXiv:1109.3145},
year = {2011}
}