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Asymptotically-optimal path planning on manifolds
dc.contributor.author | Jaillet, Leonard Georges |
dc.contributor.author | Porta Pleite, Josep Maria |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2013-03-12T17:56:02Z |
dc.date.available | 2013-03-12T17:56:02Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Jaillet, L.; Porta, J.M. Asymptotically-optimal path planning on manifolds. A: Robotics: Science and Systems. "Proceedings of the 2012 Robotics: Science and Systems Conference". Sidney: 2012, p. 1-8. |
dc.identifier.uri | http://hdl.handle.net/2117/18240 |
dc.description.abstract | This 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. |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Programming |
dc.subject.other | robots |
dc.title | Asymptotically-optimal path planning on manifolds |
dc.type | Conference report |
dc.subject.lemac | Robots -- Programació |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | http://roboticsproceedings.org/rss08/p19.html |
dc.rights.access | Open Access |
local.identifier.drac | 11218506 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Jaillet, L.; Porta, J.M. |
local.citation.contributor | Robotics: Science and Systems |
local.citation.pubplace | Sidney |
local.citation.publicationName | Proceedings of the 2012 Robotics: Science and Systems Conference |
local.citation.startingPage | 1 |
local.citation.endingPage | 8 |