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dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorRoa Garzón, Máximo
dc.contributor.authorPérez, Alexander
dc.contributor.authorGarcía, Fernando
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.description.abstractPrevious 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.rightsAttribution-NonCommercial-NoDerivs 2.5 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherPlanificació de moviments
dc.subject.otherMostratge determinista
dc.subject.otherPlanificación de movimientos
dc.subject.otherMuestreo determinista
dc.subject.otherMotion planning
dc.subject.otherDeterministic sampling
dc.titleSDK: A proposal of a general and efficient deterministic sampling sequence
dc.typeExternal research report
dc.subject.lemacRobots -- Sistemes de control -- Informes tècnics
dc.subject.lemacMostreig (Estadística) -- Aplicacions
dc.rights.accessOpen Access

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Attribution-NonCommercial-NoDerivs 2.5 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 2.5 Spain