Improving sparse roadmap spanners

Dobson, Andrew; Bekris, Kostas E.

doi:10.1109/icra.2013.6631156

Cited by 38 publications

(26 citation statements)

References 12 publications

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“…This also is advantageous for the on-line algorithm. Note that this contrasts approaches of sparsification as a post-processing step as in Dobson and Bekris (2013), where exploration of the free space is more sought, and rejection checks are local. Thus, there is less penalty to creating large transitions systems.…”

Section: Case Studiesmentioning

confidence: 99%

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Reactive sampling-based path planning with temporal logic specifications

Vasile

Belta

2020

The International Journal of Robotics Research

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We develop a sampling-based motion planning algorithm that combines long-term temporal logic goals with short-term reactive requirements. The mission specification has two parts: (1) a global specification given as a linear temporal logic (LTL) formula over a set of static service requests that occur at the regions of a known environment, and (2) a local specification that requires servicing a set of dynamic requests that can be sensed locally during the execution. The proposed computational framework consists of two main ingredients: (a) an off-line sampling-based algorithm for the construction of a global transition system that contains a path satisfying the LTL formula; and (b) an on-line sampling-based algorithm to generate paths that service the local requests, while making sure that the satisfaction of the global specification is not affected. The off-line algorithm has four main features. First, it is incremental, in the sense that the procedure for finding a satisfying path at each iteration scales only with the number of new samples generated at that iteration. Second, the underlying graph is sparse, which implies low complexity for the overall method. Third, it is probabilistically complete. Fourth, under some mild assumptions, it has the best possible complexity bound. The on-line algorithm leverages ideas from LTL monitoring and potential functions to ensure progress towards the satisfaction of the global specification while servicing locally sensed requests. Examples and experimental trials illustrating the usefulness and the performance of the framework are included.

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Section: Case Studiesmentioning

confidence: 99%

“…Moreover, we impose that the states of the transition system be bounded away from each other (by a given function decaying in terms of the size of the transition system). Computing sparse structures is also explored by Dobson and Bekris (2013) for PRM using different techniques.…”

Section: Introductionmentioning

confidence: 99%

Reactive sampling-based path planning with temporal logic specifications

Vasile

Belta

2020

The International Journal of Robotics Research

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“…This has shown that better path quality solution can be provided for queries that are time-constrained. In an advanced version, SPARS2 [27], the near-optimally feature is preserved without the need for the dense graph to be developed. This allows for a considerable reduction in memory requirements and a production of high-quality path faster than the original version.…”

Section: Motion Planning Algorithmsmentioning

confidence: 99%

Bi-objective Motion Planning Approach for Safe Motions: Application to a Collaborative Robot

Tarbouriech

Suleiman

2019

J Intell Robot Syst

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This paper presents a new bi-objective safetyoriented path planning strategy for robotic manipulators. Integrated into a sampling-based algorithm, our approach can successfully enhance the task safety by guiding the expansion of the path towards the safest configurations. Our safety notion consists of avoiding dangerous situations, e.g. being very close to the obstacles, human awareness, e.g. being as much as possible in the human vision field, as well as ensuring human safety by being as far as possible from human with hierarchical priority between human body parts. Experimental validations are conducted in simulation and on the real Baxter research robot. They revealed the efficiency of the proposed method, mainly in the case of a collaborative robot sharing the workspace with humans.

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“…Each node of the graph is found by using a different state sampler (e.g., uniform, gauss, and obstacle based). We can find the PRM method [11][12][13], SPARS method [14][15][16], RRT method [13,[17][18][19][20], SBL method [21], EST method [22], KPIECE method [23], and SyCLOP method [24].…”

Section: Related Workmentioning

confidence: 99%

The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface

Diao

Chen

et al. 2017

Mathematical Problems in Engineering

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The intelligent manufacturing system (IMS) is widely used in the surface machining of the workpiece. In the process of ceramic surface grinding, the intelligent machine (manipulator) in IMS is required to automatically plan the collision avoidance trajectory in a complex environment. This paper presents an optimal trajectory planning method of the use of redundant manipulators in the surface grinding of ceramic billet, which is based on trajectory evaluation. The collision avoidance trajectory can be optimized, taking into account several parameters in the trajectory, including the length of the collision avoidance path, the weighted sum of the strokes of all joints, and the duration of the collision avoidance trajectory. Firstly, get the planning task. Secondly, set the planning parameters and obtain a number of collision avoidance trajectories. Finally, the evaluation function is used to evaluate the collision avoidance trajectories and get the optimal collision avoidance trajectory. The performance of the proposed optimal collision avoidance trajectory planning method is validated in different evaluation functions.

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Improving sparse roadmap spanners

Cited by 38 publications

References 12 publications

Reactive sampling-based path planning with temporal logic specifications

Reactive sampling-based path planning with temporal logic specifications

Bi-objective Motion Planning Approach for Safe Motions: Application to a Collaborative Robot

The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface

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