id:"swepub:oai:DiVA.org:kth-266737"
Search: id:"swepub:oai:DiVA.org:kth-266737" > Dispertio :
- 1 of 1
- Previous record
- Next record
- To hitlist
- Palmieri, LuigiRobert Bosch GmbH, Corp Res, D-70049 Stuttgart, Germany. (author)
Dispertio : Optimal Sampling For Safe Deterministic Motion Planning
- Article/chapterEnglish2020
Publisher, publication year, extent ...
- Institute of Electrical and Electronics Engineers (IEEE),2020
- printrdacarrier
Numbers
- LIBRIS-ID:oai:DiVA.org:kth-266737
- https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-266737URI
- https://doi.org/10.1109/LRA.2019.2958525DOI
Supplementary language notes
- Language:English
- Summary in:English
Part of subdatabase
- SwePubSwePub
Classification
Notes
- QC 20200117
- A key challenge in robotics is the efficient generation of optimal robot motion with safety guarantees in cluttered environments. Recently, deterministic optimal sampling-based motion planners have been shown to achieve good performance towards this end, in particular in terms of planning efficiency, final solution cost, quality guarantees as well as non-probabilistic completeness. Yet their application is still limited to relatively simple systems (i.e., linear, holonomic, Euclidean state spaces). In this work, we extend this technique to the class of symmetric and optimal driftless systems by presenting Dispertio, an offline dispersion optimization technique for computing sampling sets, aware of differential constraints, for sampling-based robot motion planning. We prove that the approach, when combined with PRM*, is deterministically complete and retains asymptotic optimality. Furthermore, in our experiments we show that the proposed deterministic sampling technique outperforms several baselines and alternative methods in terms of planning efficiency and solution cost.
Subject headings and genre
- NATURVETENSKAP Data- och informationsvetenskap Datorseende och robotik hsv//swe
- NATURAL SCIENCES Computer and Information Sciences Computer Vision and Robotics hsv//eng
- Motion and path planning
- nonholonomic motion planning
- reactive and sensor-based planning
Added entries (persons, corporate bodies, meetings, titles ...)
- Bruns, LeonardKTH,Robotik, perception och lärande, RPL,RWTH Aachen University, Germany(Swepub:kth)u1ub2eyp (author)
- Meurer, MichaelRhein Westfal TH Aachen, German Aerosp Ctr DLR, D-82234 Wessling, Germany. (author)
- Arras, Kai O.Robert Bosch GmbH, Corp Res, D-70049 Stuttgart, Germany. (author)
- Robert Bosch GmbH, Corp Res, D-70049 Stuttgart, Germany.Robotik, perception och lärande, RPL (creator_code:org_t)
Related titles
- In:IEEE Robotics and Automation Letters: Institute of Electrical and Electronics Engineers (IEEE)5:2, s. 362-3682377-3766
Internet link
Find in a library
- IEEE Robotics and Automation Letters (Search for host publication in LIBRIS)
To the university's database
- 1 of 1
- Previous record
- Next record
- To hitlist
Find more in SwePub
- By the author/editor
- Palmieri, Luigi
- Bruns, Leonard
- Meurer, Michael
- Arras, Kai O.
- About the subject
-
- NATURAL SCIENCES
- NATURAL SCIENCES
- and Computer and Inf ...
- and Computer Vision ...
- Articles in the publication
- IEEE Robotics an ...
- By the university
- Royal Institute of Technology
Search outside SwePub
- Extend your search to:
- Google Book Search
- Google Scholar
Kungliga biblioteket hanterar dina personuppgifter i enlighet med EU:s dataskyddsförordning (2018), GDPR. Läs mer om hur det funkar här.
Så här hanterar KB dina uppgifter vid användning av denna tjänst.
- Copyright © LIBRIS - National Library Systems
- LIBRIS.kb.se
