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SDK: A proposal of a general and efficient deterministic sampling sequence
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.author | Roa Garzón, Máximo |
dc.contributor.author | Pérez, Alexander |
dc.contributor.author | García, Fernando |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2007-04-16T11:07:26Z |
dc.date.available | 2007-04-16T11:07:26Z |
dc.date.issued | 2007-03 |
dc.identifier.uri | http://hdl.handle.net/2117/750 |
dc.description.abstract | Previous works have already demonstrated that deterministic sampling can be competitive with respect to probabilistic sampling in sampling-based path planners. Nevertheless, the definition of a general sampling sequence for any d-dimensional Configuration Space satisfying the requirements needed for path planning is not a trivial issue, over a multi-grid cell decomposition, of the ordering of the 2d descendant cells of any parent cell. This ordering is generated by the digital construction method using a d x d matrix Td. A general expression of this matrix (i.e. for any d) is introduced and its performance analyzed in terms of the mutual distance. The paper ends with a performance evaluation of the use of the proposed deterministic sampling sequence in different well know path planners |
dc.format.extent | 13 |
dc.language.iso | eng |
dc.relation.ispartofseries | IOC-DT-P |
dc.relation.ispartofseries | 2007-7 |
dc.rights | Attribution-NonCommercial-NoDerivs 2.5 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/2.5/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Sampling |
dc.subject.lcsh | Robots |
dc.subject.other | Planificació de moviments |
dc.subject.other | Mostratge determinista |
dc.subject.other | Planificación de movimientos |
dc.subject.other | Muestreo determinista |
dc.subject.other | Motion planning |
dc.subject.other | Deterministic sampling |
dc.title | SDK: A proposal of a general and efficient deterministic sampling sequence |
dc.type | External research report |
dc.subject.lemac | Robots -- Sistemes de control -- Informes tècnics |
dc.subject.lemac | Mostreig (Estadística) -- Aplicacions |
dc.rights.access | Open Access |
dc.relation.projectidctt | DPI2004-03104 |
dc.relation.projectidctt | DPI2005-00112 |
local.personalitzacitacio | true |
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