Randomized query processing in robot path planning

Abstract : The subject of this paper is the analysis of a randomized preprocessing scheme that has been used for query processing in robot motion planning. The attractiveness of the scheme stems from its general applicability to virtually any motion planning problem, and its empirically observed success. In this paper we initiate a theoretical basis for explaining this empirical success. Under a simple assumption about the configuration space, we show that it is possible to perform a preprocessing step following which queries can be answered quickly. En route, we pose and give solutions to related problems on graph connectivity in the evasiveness model, and art gallery theorems.

[1]  Nils J. Nilsson,et al.  A Mobile Automaton: An Application of Artificial Intelligence Techniques , 1969, IJCAI.

[2]  S. M. Udupa,et al.  Collision Detection and Avoidance in Computer Controlled Manipulators , 1977, IJCAI.

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

[4]  Tomás Lozano-Pérez,et al.  An algorithm for planning collision-free paths among polyhedral obstacles , 1979, CACM.

[5]  Tomás Lozano-Pérez,et al.  Automatic Planning of Manipulator Transfer Movements , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[6]  John E. Hopcroft,et al.  On the movement of robot arms in 2-dimensional bounded regions , 1982, 23rd Annual Symposium on Foundations of Computer Science (sfcs 1982).

[7]  J. Schwartz,et al.  On the “piano movers” problem. II. General techniques for computing topological properties of real algebraic manifolds , 1983 .

[8]  John E. Hopcroft,et al.  Movement Problems for 2-Dimensional Linkages , 1984, SIAM J. Comput..

[9]  Deborah A. Joseph,et al.  On the complexity of reachability and motion planning questions (extended abstract) , 1985, SCG '85.

[10]  Micha Sharir,et al.  Motion Planning in the Presence of Moving Obstacles , 1985, FOCS.

[11]  Vitit Kantabutra,et al.  New Algorithms for Multilink Robot Arms , 1986, J. Comput. Syst. Sci..

[12]  J. O'Rourke.  Art gallery theorems and algorithms , 1987 .

[13]  John F. Canny,et al.  New lower bound techniques for robot motion planning problems , 1987, 28th Annual Symposium on Foundations of Computer Science (sfcs 1987).

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

[15]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[16]  Jean-Claude Latombe,et al.  Robot Motion Planning: A Distributed Representation Approach , 1991, Int. J. Robotics Res..

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

[18]  Henning Tolle,et al.  Motion planning with many degrees of freedom-random reflections at C-space obstacles , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[19]  Yoshihito Koga,et al.  On computing multi-arm manipulation trajectories , 1994 .

[20]  Mark H. Overmars,et al.  A probabilistic learning approach to motion planning , 1995 .

[21]  Lydia E. Kavraki,et al.  Random networks in configuration space for fast path planning , 1994 .

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

[23]  Jean-Claude Latombelatombe.  Ing of Connguration Space for Fast Path Planning , 2007 .

[24]  E. J.,et al.  ON THE COMPLEXITY OF MOTION PLANNING FOR MULTIPLE INDEPENDENT OBJECTS ; PSPACE HARDNESS OF THE " WAREHOUSEMAN ' S PROBLEM " . * * ) , 2022 .