Class 4 (Wednesday, January 19) :
PROBABILISTIC ROADMAPS
- Topics:
- Convergence of probabilistic roadmap planners
- Other sampling strategies
- Required Readings:
- Convergence of probabilistic roadmap planning:
D. Hsu, J.C. Latombe, and R. Motwani. Path Planning in
Expansive Configuration Spaces.
International Journal of Computational Geometry and
Applications, 9(4-5):495-512, 1999
(ps file).
- Another sampling strategy:
Path Planning Using Lazy PRM. R. Bohlin and L.E. Kavraki.
IEEE International Conference on Robotics and Automation,
San Francisco, April 2000.
(ps file).
- Other Readings:
- Other sampling strategies:
S.A. Wilmarth, N.M. Amato, P.F. Stiller.
Motion Planning for a Rigid Body Using Random Networks
on the Medial Axis of the Free Space.
Proceedings of the 15th Annual ACM
Symposium on Computational Geometry (SoCG'99), pages 173-180,
June 1999 (ps file).
V. Boor, M.H. Overmars, A.F. van der Stappen.
The Gaussian sampling strategy for probabilistic roadmap planners.
Proceedings of the IEEE International Conference on Robotics
and Automation,
pages 1018-1023, 1999 (ps file).
- Powerpoint slides -- Intro
-
Powerpoint slides -- Path Planning in
Expansive Configuration Spaces paper
- Powerpoint slides -- Lazy PRM paper