Show simple item record

dc.contributor.authorJaillet, Leonard Georges
dc.contributor.authorCortés, Juan
dc.contributor.authorSimeon, Thierry
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2011-04-13T16:48:43Z
dc.date.available2011-04-13T16:48:43Z
dc.date.created2010
dc.date.issued2010
dc.identifier.citationJaillet, L.; Cortés, J.; Simeon, T. Sampling-based path planning on configuration-space costmaps. "IEEE transactions on robotics", 2010, vol. 26, núm. 4, p. 635-646.
dc.identifier.issn1552-3098
dc.identifier.urihttp://hdl.handle.net/2117/12361
dc.description.abstractThis paper addresses path planning to consider a cost function defined over the configuration space. The proposed planner computes low-cost paths that follow valleys and saddle points of the configuration-space costmap. It combines the exploratory strength of the Rapidly exploring Random Tree (RRT) algorithm with transition tests used in stochastic optimization methods to accept or to reject new potential states. The planner is analyzed and shown to compute low-cost solutions with respect to a path-quality criterion based on the notion of mechanical work. A large set of experimental results is provided to demonstrate the effectiveness of the method. Current limitations and possible extensions are also discussed.
dc.format.extent12 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Intel·ligència artificial artificial
dc.subject.lcshPlanning / Artificial intelligence
dc.subject.otherrobots
dc.subject.otherpath quality
dc.subject.othersampling-based motion planning
dc.subject.othercostmap planning
dc.titleSampling-based path planning on configuration-space costmaps
dc.typeArticle
dc.subject.lemacPlanificació / Intel·ligència artificial
dc.identifier.doi10.1109/TRO.2010.2049527
dc.subject.inspecClassificació INSPEC::Cybernetics::Artificial intelligence::Planning (artificial intelligence)
dc.relation.publisherversionhttp://dx.doi.org/10.1109/TRO.2010.2049527
dc.rights.accessOpen Access
local.identifier.drac4982030
dc.description.versionPostprint (published version)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/216239/EU/DEXterous and autonomous dual-arm%2Fhand robotic manipulationwith sMART sensory-motor skills: A bridge from natural to artificial cognition/DEXMART
local.citation.authorJaillet, L.; Cortés, J.; Simeon, T.
local.citation.publicationNameIEEE transactions on robotics
local.citation.volume26
local.citation.number4
local.citation.startingPage635
local.citation.endingPage646


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain