NDLI: Addressing cost-space chasms in manipulation planning

Content Provider	IEEE Xplore Digital Library
Author	Berenson, D. Simeon, T. Srinivasa, S.S.
Copyright Year	2011
Description	Author affiliation: CNRS; LAAS and Université de Toulouse; UPS, INSA, INP, ISAE, LAAS; F31077, France (Simeon, T.) \|\| The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA (Berenson, D.; Srinivasa, S.S.)
Abstract	Finding paths in high-dimensional spaces becomes difficult when we wish to optimize the cost of a path in addition to obeying feasibility constraints. Recently the T-RRT algorithm was presented as a method to plan in high-dimensional cost-spaces and it was shown to perform well across a variety of problems. However, since the T-RRT relies solely on sampling to explore the space, it has difficulty navigating cost-space chasms-narrow low-cost regions surrounded by increasing cost. Such chasms are particularly common in planning for manipulators because many useful cost functions induce narrow or lower-dimensional low-cost areas. This paper presents the GradienT-RRT algorithm, which combines the T-RRT with a local gradient method to bias the search toward lower-cost regions. GradienT-RRT is effective at navigating chasms because it explores low-cost regions that are too narrow to explore by sampling alone. We compare the performance of T-RRT and GradienT-RRT on planning problems involving cost functions defined in workspace, task space, and C-space. We find that GradienT-RRT outperforms T-RRT in terms of the cost of the final path while maintaining better or comparable computation time. We also find that the cost of paths generated by GradienT-RRT is far less sensitive to changes in a key parameter, making it easier to tune the algorithm. Finally, we conclude with a demonstration of GradienT-RRT on a planning-with-uncertainty task on the physical HERB robot.
Starting Page	4561
Ending Page	4568
File Size	1796271
Page Count	8
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979797
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cost function Planning Navigation Collision avoidance Temperature Manipulators
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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