Basic Techniques

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The figure on the left illustrates the concept of a
probabilistic roadmap. The figure in the middle shows the milestones of a
roadmap created for a virtual camera in a home (see Class 15). The figure on
the right shows a probabilistic roadmap tree for docking a spacecraft against a
space station (from Jeff Phillips).

**Topics**

- Principle, rationale, and requirements of probabilistic roadmaps

- Multi- and Single-query PRM planners

- Narrow passage issue and expansiveness of free space

- Probabilistic completeness and convergence of PRM planners**Required****Readings****:**- Basic paper on probabilistic roadmaps:

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] [pdf] - Analysis of probabilistic completeness in
expansive space:

D. Hsu, J.C. Latombe, and R. Motwani. Path Planning in Expansive Configuration Spaces.*Int. J. of Computational Geometry and Applications*, 9(4-5):495-512, 1999. [ps]

**Other****Readings****:**- A number of papers on probabilistic
roadmaps can be found at the websites of:

- Lydia Kavraki

- Nancy Amato

- Mark Overmars

- David Hsu

- Steve LaValle

- MOLOG project

**Powerpoint****slides:**

o Paper
1

o Paper
2