NDLI: Probabilistic roadmaps: An incremental sampling approach to approximate the connectivity of robot configuration spaces

Content Provider	IEEE Xplore Digital Library
Author	Latombe, J.-C.
Copyright Year	2008
Description	Author affiliation: Comput. Sci. Dept., Stanford Univ., Stanford, CA (Latombe, J.-C.)
Abstract	Summary form only given. For over 15 years, a major research theme in robotics has been the development of randomized sampling schemes to create efficient motion planners. The main outcome of this research has been the Probabilistic Roadmap approach (PRM) to motion planning. Originally, this approach was intended to compute collision-free paths of robots with ldquomanyrdquo degrees of freedom-at that time, 4 or more. But, over the years, successive improvements (as well as faster computers) made it possible to handle robotic systems with several dozen degrees of freedom operating in complex geometric environments. PRM was also extended to solve planning problems with motion constraints other than collision avoidance, for instance, visibility, equilibrium, contact, and kinodynamic constraints. Concurrently, PRM planning has also been applied to non-robotics applications, e.g., for animating autonomous digital characters, designing product that can easily be assembled and serviced, testing whether architectural designs satisfy building codes, providing interactive tools to navigate in huge virtual reality models, planning complex surgical operations, and studying folding and binding molecular motions. This talk will consist of two parts. First, the PRM approach and various underlying techniques, especially sampling strategies, will be reviewed. Rather than computing an exact representation of a robotpsilas configuration space, the PRM approach ldquolearnsrdquo incrementally a simplified representation of the connectivity of this space. This representation is a network of simple paths connecting configurations sampled at random. The second part of the talk will analyze the necessary and sufficient conditions under which the PRM approach works well. It will argue that the main outcome of the research on PRM planning is what the empirical success of this approach tells us about motion planning problems, rather than the approach itself.
Starting Page	2
Ending Page	2
File Size	252698
Page Count	1
File Format	PDF
ISBN	9781424425389
DOI	10.1109/COGINF.2008.4639145
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-08-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in