Class #7: Sampling and
Connection Strategies for Probabilistic Roadmaps
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The Bridge Test strategy (left)
is aimed at producing a higher density of milestones in narrow passages.
Workspace-based sampling (center) tries to predict narrow passage areas in
configuration space from an analysis of the workspace. The small-step retraction
strategy (right) slightly dilates free space to increase expansiveness.
- Topics
-
Multi-query vs. single-query sampling
- Sampling
vs. connection strategies
-
Workspace-based strategies
- Filtering strategies
- Adaptive strategies
- Deformation strategies
- Delayed collision checking
- Readings:
- Filtering strategies:
- Gaussian sampling:
V. Boor,
M.H. Overmars, A.F. van der Stappen. The Gaussian sampling strategy for
probabilistic roadmap planners. Proc. IEEE Int. Conf. on Robotics and
Automation, pp. 1018-1023, 1999
[pdf].
- Bridge test:
D. Hsu,
T. Jiang, J. Reif, and Z. Sun. The Bridge Test for Sampling Narrow
Passages with Probabilistic Roadmap Planners. Proc. IEEE Int. Conf.
on Robotics and Automation, Taipei,
2003. [pdf]
- Workspace-based strategy:
H.
Kurniawati and D. Hsu. Workspace-Based
Connectivity Oracle: An Adaptive Sampling Strategy for PRM Planning.
In S. Akella et al., editors, Proc. Int. Workshop on the Algorithmic
Foundations of Robotics (WAFR), Springer, 2006. [pdf].
- Small-step retraction:
M.
Saha, J.C. Latombe, Y.-C. Chang, F. Prinz. Finding Narrow Passages with Probabilistic Roadmaps: The Small-Step
Retraction Method. Autonomous Robots, 19(3):301-319, Dec. 2005. [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. [pdf]
(skip the
section on multi-robot coordination)
- Slides