Class 3 (Wednesday, January 12) :
PROBABILISTIC ROADMAPS
- Topics:
- Principle and rationale of probabilistic roadmaps
- Collision detection and distance computation
- Required Readings:
- Basic description of probabilistic roadmap
framework:
L.E. Kavraki, P. Svestka, J.C. Latombe, and M. Overmars.
Probabilistic Roadmaps for Path Planning in High-Dimensional
Configuration Spaces. IEEE Transactions on Robotics and
Automation, 12(4):566-580, 1996
(ps file).
- Example of a fast algorithm for collision
checking and distance computation:
S. Quinlan. Efficient Computation between Non-Convex Objects.
Proceedings of IEEE International Conference on Robotics and
Automation, pages 144-154, 1994 (ps
file).
- Other Readings:
- Probabilistic roadmaps:
A number of papers can be found at the websites of:
-
Lydia Kavraki
-
Nancy Amato
-
Mark Overmars
- Collision detection and distance
computation:
The best research is currently being done at UNC. See Ming Lin's webpage.
See also V-Clip
of Brian Mirtich at MERL.
- Powerpoint slides -- Intro
- Powerpoint slides -- PRM paper
- Powerpoint slides -- Quinlan paper