Reachability Analysis of Sampling Based Planners

The last decade, sampling based planners like the Probabilistic Roadmap Method have proved to be successful in solving complex motion planning problems. We give a reachability based analysis for these planners which leads to a better understanding of the success of the approach and enhancements of the techniques suggested. This also enables us to study the effect of using new local planners.

[1]  Mark H. Overmars,et al.  Clearance based path optimization for motion planning , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[2]  John Canny,et al.  The complexity of robot motion planning , 1988 .

[3]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[4]  Mark H. Overmars,et al.  Sampling Techniques for Probabilistic Roadmap Planners , 2003 .

[5]  Mark H. Overmars,et al.  A Comparative Study of Probabilistic Roadmap Planners , 2002, WAFR.

[6]  J. Schwartz,et al.  On the Piano Movers' Problem: III. Coordinating the Motion of Several Independent Bodies: The Special Case of Circular Bodies Moving Amidst Polygonal Barriers , 1983 .

[7]  G. Swaminathan.  Robot Motion Planning , 2006 .

[8]  Thierry Siméon,et al.  Visibility based probabilistic roadmaps , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[9]  Gino van den Bergen.  Collision Detection in Interactive 3D Environments , 2003 .

[10]  John H. Reif,et al.  The complexity of elementary algebra and geometry , 1984, STOC '84.

[11]  Lydia E. Kavraki,et al.  Analysis of probabilistic roadmaps for path planning , 1998, IEEE Trans. Robotics Autom..

[12]  J. T. Shwartz,et al.  On the Piano Movers' Problem : III , 1983 .

[13]  Mark H. Overmars,et al.  A random approach to motion planning , 1992 .

[14]  Jérôme Barraquand.  Automatic Motion Planning for Complex Articulated Bodies , 1996 .

[15]  John H. Reif,et al.  The complexity of elementary algebra and geometry , 1984, STOC '84.

[16]  John H. Reif,et al.  Complexity of the mover's problem and generalizations , 1979, 20th Annual Symposium on Foundations of Computer Science (sfcs 1979).