Sample Complexity of Probabilistic Roadmaps via $\epsilon$-nets

We study fundamental theoretical aspects of probabilistic roadmaps (PRM) in the finite time (non-asymptotic) regime. In particular, we investigate how completeness and optimality guarantees of the approach are influenced by the underlying deterministic sampling distribution ${\X}$ and connection radius ${r>0}$. We develop the notion of ${(\delta,\epsilon)}$-completeness of the parameters ${\X, r}$, which indicates that for every motion-planning problem of clearance at least ${\delta>0}$, PRM using ${\X, r}$ returns a solution no longer than ${1+\epsilon}$ times the shortest ${\delta}$-clear path. Leveraging the concept of ${\epsilon}$-nets, we characterize in terms of lower and upper bounds the number of samples needed to guarantee ${(\delta,\epsilon)}$-completeness. This is in contrast with previous work which mostly considered the asymptotic regime in which the number of samples tends to infinity. In practice, we propose a sampling distribution inspired by ${\epsilon}$-nets that achieves nearly the same coverage as grids while using significantly fewer samples.