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2007

Predicting Partial Paths from Planning Problem Parameters

8 years 9 months ago
Predicting Partial Paths from Planning Problem Parameters
— Many robot motion planning problems can be described as a combination of motion through relatively sparsely filled regions of configuration space and motion through tighter passages. Sample-based planners perform very effectively everywhere but in the tight passages. In this paper, we provide a method for parametrically describing workspace arrangements that are difficult for planners, and then learning a function that proposes partial paths through them as a function of the parameters. These suggested partial paths are then used to significantly speed up planning for new problems.
Sarah Finney, Leslie Pack Kaelbling, Tomás
Added 30 Oct 2010
Updated 30 Oct 2010
Type Conference
Year 2007
Where RSS
Authors Sarah Finney, Leslie Pack Kaelbling, Tomás Lozano-Pérez
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