Class #8: Probabilistic Roadmaps (3/3) –
Sampling Strategies
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Illustration for the Medial-Axis Transform sampling strategy (left). Lazy collision checking consists of postponing collision tests along roadmap edges until they are absolutely needed.

• Topics
  - Use of Media-Axis Transform
  - Delayed collision checking (Lazy collision checking)
• Required Readings:
• Use of Medial-Axis Transform:
  VS.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] [pdf]
• Delayed collision-checking:
  G. Sánchez and J.C. Latombe. On Delaying Collision Checking in PRM Planning – Application to Multi-Robot Coordination, Int. J. of Robotics Research, 21(1):5-26, January 2002. [doc] [pdf] (skip the section on multi-robot coordination)
• Powerpoint slides:

o Introduction

o Paper 1

o Paper 2