Sökning: onr:"swepub:oai:DiVA.org:kth-295374" >
Bench-MR :
-
Heiden, EricUniv Southern Calif, Dept Comp Sci, Los Angeles, CA 90007 USA.
(författare)
Bench-MR : A Motion Planning Benchmark for Wheeled Mobile Robots
- Artikel/kapitelEngelska2021
Förlag, utgivningsår, omfång ...
-
Institute of Electrical and Electronics Engineers (IEEE),2021
-
printrdacarrier
Nummerbeteckningar
-
LIBRIS-ID:oai:DiVA.org:kth-295374
-
https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295374URI
-
https://doi.org/10.1109/LRA.2021.3068913DOI
Kompletterande språkuppgifter
-
Språk:engelska
-
Sammanfattning på:engelska
Ingår i deldatabas
Klassifikation
-
Ämneskategori:ref swepub-contenttype
-
Ämneskategori:art swepub-publicationtype
Anmärkningar
-
QC 20210524
-
Planning smooth and energy-efficient paths for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, several sampling-based motion-planning algorithms, extend functions and post-smoothing algorithms have been introduced for such motion-planning systems. Choosing the best combination of components for an application is a tedious exercise, even for expert users. We therefore present Bench-MR, the first open-source motion-planning benchmarking framework designed for sampling-based motion planning for nonholonomic, wheeled mobile robots. Unlike related software suites, Bench-MR is an easy-to-use and comprehensive benchmarking framework that provides a large variety of sampling-based motion-planning algorithms, extend functions, collision checkers, post-smoothing algorithms and optimization criteria. It aids practitioners and researchers in designing, testing, and evaluating motion-planning systems, and comparing them against the state of the art on complex navigation scenarios through many performance metrics. Through several experiments, we demonstrate how Bench-MR can be used to gain extensive insights from the benchmarking results it generates.
Ämnesord och genrebeteckningar
Biuppslag (personer, institutioner, konferenser, titlar ...)
-
Palmieri, LuigiRobert Bosch GmbH, Corp Res, D-70839 Stuttgart, Germany.
(författare)
-
Bruns, LeonardKTH,Robotik, perception och lärande, RPL(Swepub:kth)u1ub2eyp
(författare)
-
Arras, Kai O.Robert Bosch GmbH, Corp Res, D-70839 Stuttgart, Germany.
(författare)
-
Sukhatme, Gaurav S.Univ Southern Calif, Dept Comp Sci, Los Angeles, CA 90007 USA.
(författare)
-
Koenig, SvenUniv Southern Calif, Dept Comp Sci, Los Angeles, CA 90007 USA.
(författare)
-
Univ Southern Calif, Dept Comp Sci, Los Angeles, CA 90007 USA.Robert Bosch GmbH, Corp Res, D-70839 Stuttgart, Germany.
(creator_code:org_t)
Sammanhörande titlar
-
Ingår i:IEEE Robotics and Automation Letters: Institute of Electrical and Electronics Engineers (IEEE)6:3, s. 4536-45432377-3766
Internetlänk
Hitta via bibliotek
Till lärosätets databas