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Asymptotically-optimal path planning on manifolds

AuthorsJaillet, Léonard ; Porta, Josep M.
Issue Date2012
PublisherMassachusetts Institute of Technology
CitationProceedings of Robotics: Science and Systems (2012)
AbstractThis paper presents an approach for optimal path planning on implicitly-defined configuration spaces such as those arising, for instance, when manipulating an object with two arms or with a multifingered hand. In this kind of situations, the kinematic and contact constraints induce configuration spaces that are manifolds embedded in higher dimensional ambient spaces. Existing sampling-based approaches for path planning on manifolds focus on finding a feasible solution, but they do not optimize the quality of the path in any sense. Thus, the returned paths are usually not suitable for direct execution. Recently, RRT* and other similar asymptotically-optimal path planners have been proposed to generate high-quality paths in the case of globally parametrizable configuration spaces. In this paper, we propose to use higher dimensional continuation tools to extend RRT* to the case of implicitly-defined configuration spaces. Experiments in different problems validate the proposed approach.
DescriptionTrabajo presentado al VIII Robotics: Science and Systems celebrado en Sidney del 9 al 13 de julio de 2012.
Publisher version (URL)http://www.roboticsproceedings.org/rss08/p19.html
Identifiersisbn: 978-0-262-51968-7
Appears in Collections:(IRII) Libros y partes de libros
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