NDLI: Adapting RRT growth for heterogeneous environments

Content Provider	IEEE Xplore Digital Library
Author	Denny, J. Morales, M. Rodriguez, S. Amato, N.M.
Copyright Year	2013
Description	Author affiliation: Acad. Dept. of Digital Syst., Inst. Tecnol. Autonomo de Mexico, Progreso, Mexico (Morales, M.) \|\| Dept. of Comput. Sci. & Eng., Texas A&M Univ., College Station, TX, USA (Denny, J.; Rodriguez, S.; Amato, N.M.)
Abstract	Rapidly-exploring Random Trees (RRTs) are effective for a wide range of applications ranging from kinodynamic planning to motion planning under uncertainty. However, RRTs are not as efficient when exploring heterogeneous environments and do not adapt to the space. For example, in difficult areas an expensive RRT growth method might be appropriate, while in open areas inexpensive growth methods should be chosen. In this paper, we present a novel algorithm, Adaptive RRT, that adapts RRT growth to the current exploration area using a two level growth selection mechanism. At the first level, we select groups of expansion methods according to the visibility of the node being expanded. Second, we use a cost-sensitive learning approach to select a sampler from the group of expansion methods chosen. Also, we propose a novel definition of visibility for RRT nodes which can be computed in an online manner and used by Adaptive RRT to select an appropriate expansion method. We present the algorithm and experimental analysis on a broad range of problems showing not only its adaptability, but efficiency gains achieved by adapting exploration methods appropriately.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	1772
Ending Page	1778
File Size	367279
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696589
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Measurement Robots Planning Space exploration Vectors Vegetation Standards
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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

Two-level RRT planning for robotic push manipulation

Adapting control policies for expensive systems to changing environments

Deterministic Kinodynamic Planning with hardware demonstrations

Hierarchical RRT for humanoid robot footstep planning with multiple constraints in complex environments

Adaptive appearance based loop-closing in heterogeneous environments

Blind RRT: A probabilistically complete distributed RRT

Adaptive neighbor connection for PRMs: A natural fit for heterogeneous environments and parallelism

Planning humanlike actions in blending spaces

Controlled active exploration of uncalibrated environments

Adapting RRT growth for heterogeneous environments

Similar Documents

Two-level RRT planning for robotic push manipulation

Adapting control policies for expensive systems to changing environments

Deterministic Kinodynamic Planning with hardware demonstrations

Hierarchical RRT for humanoid robot footstep planning with multiple constraints in complex environments

Adaptive appearance based loop-closing in heterogeneous environments

Blind RRT: A probabilistically complete distributed RRT

Adaptive neighbor connection for PRMs: A natural fit for heterogeneous environments and parallelism

Planning humanlike actions in blending spaces

Controlled active exploration of uncalibrated environments

Adapting RRT growth for heterogeneous environments