Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain
@article{Yershova2005DynamicDomainRE, title={Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain}, author={A. Yershova and L. Jaillet and T. Sim{\'e}on and S. LaValle}, journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation}, year={2005}, pages={3856-3861} }
Sampling-based planners have solved difficult problems in many applications of motion planning in recent years. In particular, techniques based on the Rapidly-exploring Random Trees (RRTs) have generated highly successful single-query planners. Even though RRTs work well on many problems, they have weaknesses which cause them to explore slowly when the sampling domain is not well adapted to the problem. In this paper we characterize these issues and propose a general framework for minimizing… CONTINUE READING
Figures and Topics from this paper
253 Citations
Adaptive tuning of the sampling domain for dynamic-domain RRTs
- Computer Science
- 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
- 2005
- 122
- PDF
Learning Implicit Sampling Distributions for Motion Planning
- Computer Science, Engineering
- 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- 2018
- 22
- PDF
Sampling heuristics for optimal motion planning in high dimensions
- Computer Science
- 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
- 2011
- 122
- PDF
Costmap planning in high dimensional configuration spaces
- Mathematics
- 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
- 2012
- 10
- PDF
Single-Query Motion Planning with Utility-Guided Random Trees
- Mathematics, Computer Science
- Proceedings 2007 IEEE International Conference on Robotics and Automation
- 2007
- 66
- PDF
Learned Sampling Distributions for Efficient Planning in Hybrid Geometric and Object-Level Representations
- Computer Science
- 2020 IEEE International Conference on Robotics and Automation (ICRA)
- 2020
- 1
- PDF
Balancing Exploration and Exploitation in Sampling-Based Motion Planning
- Computer Science
- IEEE Transactions on Robotics
- 2014
- 54
- PDF
References
SHOWING 1-10 OF 75 REFERENCES
A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking
- Mathematics, Computer Science
- ISRR
- 2001
- 323
- PDF
RRT-connect: An efficient approach to single-query path planning
- Computer Science
- Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
- 2000
- 2,423
- PDF
A framework for using the workspace medial axis in PRM planners
- Computer Science, Mathematics
- Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
- 2000
- 156
- PDF
The Gaussian sampling strategy for probabilistic roadmap planners
- Computer Science
- Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
- 1999
- 568
- PDF
MAPRM: a probabilistic roadmap planner with sampling on the medial axis of the free space
- Mathematics, Computer Science
- Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
- 1999
- 368
- PDF
Motion planning a aerial robot using rapidly-exploring random trees with dynamic constraints
- Engineering, Computer Science
- 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
- 2003
- 93
Incrementally reducing dispersion by increasing Voronoi bias in RRTs
- Mathematics, Computer Science
- IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
- 2004
- 110
- PDF
Kinodynamic motion planning: connecting exploration trees using trajectory optimization Methods
- Mathematics, Computer Science
- IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
- 2004
- 58
- PDF
Manipulation Planning with Probabilistic Roadmaps
- Mathematics, Computer Science
- Int. J. Robotics Res.
- 2004
- 263
- PDF
Path planning using lazy PRM
- Computer Science
- Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
- 2000
- 733
- PDF