Publication
Path planning on manifolds using randomized higher-dimensional continuation
Conference Article
Conference
International Workshop on the Algorithmic Foundations of Robotics (WAFR)
Edition
Ninth
Pages
337-353
Doc link
http://dx.doi.org/10.1007/978-3-642-17452-0_20
File
Authors
Projects associated
Abstract
Despite the significant advances in path planning methods, problems in highly constrained spaces are still challenging. In particular, in many situations the configuration space is a non-parametrizable variety implicitly defined by constraints, which complicates the successful generalization of sampling-based path planners. In this paper, we present a new path planning algorithm specially tailored for highly constrained systems. It builds on recently developed tools for Higher-dimensional Continuation, which provide numerical procedures to describe an implicitly defined variety using a set of local charts. We propose to extend these methods to obtain an efficient path planner on varieties, handling highly constrained problems. The advantage of this planner comes from that it directly operates into the configuration space and not into the higher-dimensional ambient space, as most of the existing methods do.
Categories
robots.
Author keywords
path planning, higher-dimensional continuation
Scientific reference
J.M. Porta and L. Jaillet. Path planning on manifolds using randomized higher-dimensional continuation, Ninth International Workshop on the Algorithmic Foundations of Robotics, 2010, Singapore, in Algorithmic Foundations of Robotics IX, Vol 68 of Springer Tracts in Advanced Robotics, pp. 337-353, 2011, Springer, Berlin.
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