Sparsification of Motion-Planning Roadmaps by Edge Contraction
Robotics
2012-09-21 v1 Data Structures and Algorithms
Abstract
We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal effect on the quality of paths that can be extracted from the new roadmap. The primitive operation used by RSEC is edge contraction - the contraction of a roadmap edge to a single vertex and the connection of the new vertex to the neighboring vertices of the contracted edge. For certain scenarios, we compress more than 98% of the edges and vertices at the cost of degradation of average shortest path length by at most 2%.
Keywords
Cite
@article{arxiv.1209.4463,
title = {Sparsification of Motion-Planning Roadmaps by Edge Contraction},
author = {Doron Shaharabani and Oren Salzman and Pankaj K. Agarwal and Dan Halperin},
journal= {arXiv preprint arXiv:1209.4463},
year = {2012}
}