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RESAMPL: A Region-Sensitive Adaptive Motion Planner
[chapter]
Springer Tracts in Advanced Robotics
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In this work, we present resampl, a motion planning strategy that uses local region information to make intelligent decisions about how and where to sample, which samples to connect together, and to find ...
Our Contribution: In this work, we propose resampl, a motion planning strategy that uses local region information to make intelligent decisions about how and where to sample, which samples to connect together ...
Finally, [19] is a complete, deterministic planner that partitions the free space into star-shaped regions such that a single sample can see every point in the region. ...
doi:10.1007/978-3-540-68405-3_18
fatcat:ltty3ywjmzaitkm7pwqfrhgcju
An unsupervised adaptive strategy for constructing probabilistic roadmaps
2009
2009 IEEE International Conference on Robotics and Automation
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For example, adaptive solutions such as setting learning rates, hand-classifying spaces, and defining parameters for a library of planners have all been proposed. ...
Through a series of experiments, we demonstrate that in a wide variety of environments, the regions automatically identified by our technique represent the planning space well both in number and placement ...
In this paper, we explore a combination of two previously introduced adaptive methods, a feature-sensitive motion planning framework [16] and temporal adaptation (provided by the Hybrid PRM planner ...
doi:10.1109/robot.2009.5152544
dblp:conf/icra/TapiaTBA09
fatcat:e5ldnd6fgvgbvhg5oqfuftpe5u
AUTONOMOUS NAVIGATION OF A 5 GRAM CRAWLING MILLIROBOT IN A COMPLEX ENVIRONMENT
[chapter]
2012
Adaptive Mobile Robotics
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Due to payload constraints, all sensing is performed by a single lowresolution camera and processing is split between an onboard unit and a base station. ...
We present an integrated object detector, localizer, and planner that have been successfully demonstrated to enable the millirobot to determine its position within the environment, plan and navigate the ...
Replacing the current camera with a newer model would significantly increase the performance of the perception system by providing higher-resolution and improved light sensitivity. ...
doi:10.1142/9789814415958_0019
fatcat:dwuznuvbj5bdxk3vcy2dxvg5oq
A scalable method for parallelizing sampling-based motion planning algorithms
2012
2012 IEEE International Conference on Robotics and Automation
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This paper describes a scalable method for parallelizing sampling-based motion planning algorithms. ...
It subdivides configuration space (C-space) into (possibly overlapping) regions and independently, in parallel, uses standard (sequential) sampling-based planners to construct roadmaps in each region. ...
Algorithm 1 Parallel Sampling-based Motion Planning Input: An environment E, A set of motion planners S, number of regions N R Output: A roadmap graph G 1: Decompose E into N regions 2: Make a region graph ...
doi:10.1109/icra.2012.6225334
dblp:conf/icra/JacobsMBDTA12
fatcat:ghmp6mqygzdmrejf3pfe5fkluu
Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Motion planning is known to be difficult. Probabilistic planners have made great advances, but still have difficulty for problems that require planning in narrow passages or on surfaces in Cspace. ...
This work proposes Toggle PRM, a new methodology for PRMs that simultaneously maps both free and obstacle space. ...
Region-Sensitive Adaptive Motion Planner (RESAMPL) [21] is a feature sensitive motion planning aid designed to help both multi-query and single-query planning methods. ...
doi:10.1109/iros.2011.6095102
dblp:conf/iros/DennyA11
fatcat:f4tgsgz4w5eevmk4dx5rk3ii3a
Toggle PRM: Simultaneous mapping of C-free and C-obstacle - a study in 2D -
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Motion planning is known to be difficult. Probabilistic planners have made great advances, but still have difficulty for problems that require planning in narrow passages or on surfaces in Cspace. ...
This work proposes Toggle PRM, a new methodology for PRMs that simultaneously maps both free and obstacle space. ...
Region-Sensitive Adaptive Motion Planner (RESAMPL) [21] is a feature sensitive motion planning aid designed to help both multi-query and single-query planning methods. ...
doi:10.1109/iros.2011.6048865
fatcat:waiovqxjdvfgnnrc57itybrzim
Reachability-guided sampling for planning under differential constraints
2009
2009 IEEE International Conference on Robotics and Automation
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We demonstrate the algorithm with a detailed look at the expansion of an RRT in a swingup task, and on path planning for a nonholonomic car. ...
Here we present a new sampling strategy for the RRT algorithm, based on an estimated feasibility set, which affords a dramatic improvement in performance in these severely constrained systems. ...
The RG-RRT takes advantage of the fact that sampling is cheap compared to the process of expanding a node and, therefore, is willing to resample until a point is drawn from a region that yields better ...
doi:10.1109/robot.2009.5152874
dblp:conf/icra/ShkolnikWT09
fatcat:dasdlzzzfnephfvyvcb7p57yve
Adaptive local learning in sampling based motion planning for protein folding
2015
2015 IEEE International Conference on Bioinformatics and Biomedicine (BIBM)
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It is sensitive not only to different types of landscapes but also to differing regions in the landscape itself, removing the need to explicitly partition the landscape. ...
Simulating protein folding motions is an important problem in computational biology. ...
RESAMPL [12] is similar in spirit to Feature Sensitive Motion Planning, but it dynamically generates local regions to plan in. ...
doi:10.1109/bibm.2015.7359656
dblp:conf/bibm/EkennaTA15
fatcat:fw4p75yrvredffwinzgwkoweca
Adaptive local learning in sampling based motion planning for protein folding
2016
BMC Systems Biology
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It is sensitive not only to different types of landscapes but also to differing regions in the landscape itself, removing the need to explicitly partition the landscape. ...
Simulating protein folding motions is an important problem in computational biology. ...
RESAMPL [12] is similar in spirit to Feature Sensitive Motion Planning, but it dynamically generates local regions to plan in. ...
doi:10.1186/s12918-016-0297-9
pmid:27490494
pmcid:PMC4977477
fatcat:qzr5pq3m6vbkhen6m2sjucwyvi
Review of mobile robots obstacle avoidance, localization, motion planning, and wheels
2020
Indonesian Journal of Electrical Engineering and Computer Science
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<span>The main objective of this research is to study the obstacle avoidance, Monte Carlo Localization (MCL) method, motion planning in dynamic networks for mobile robots, and mobile robots wheels depending ...
The obstacles that are sensed in the region surrounded the robot are considered, so this region is called "sensitivity bubble".the researchers of [4] proposed an idea making the mobile robots discover ...
The planner is a single-query probabilistic-roadmap (PRM) planner [22] .
Test-platform 4.2.1. ...
doi:10.11591/ijeecs.v20.i2.pp768-776
fatcat:k5cw2vzaezgzfgfqyj6oriydce
Autonomous human–robot proxemics: socially aware navigation based on interaction potential
2016
Autonomous Robots
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distance and orientation parameters, (2) a reactive proxemic controller for goal state realization, and (3) a cost-based trajectory planner for maximizing automated robot speech and gesture recognition ...
rates along a path to the goal state. ...
2. a speech output level, SO L H R -How loudly will H speak?
a gesture output level, G O L H R -In what region of space will H gesture? ...
doi:10.1007/s10514-016-9572-2
fatcat:3u6ta3ru6rbote4zrarabhkoum
A scalable distributed RRT for motion planning
2013
2013 IEEE International Conference on Robotics and Automation
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The second algorithm radially subdivides the configuration space into regions, constructs a portion of the tree in each region in parallel, and connects the subtrees, removing cycles if they exist. ...
Rapidly-exploring Random Tree (RRT), like other sampling-based motion planning methods, has been very successful in solving motion planning problems. ...
A similar algorithm of interest is Region-Sensitive Adaptive Motion Planning (RESAMPL) [23] . RESAMPL subdivides C space into local regions using an initial set of samples. ...
doi:10.1109/icra.2013.6631304
dblp:conf/icra/JacobsSRTA13
fatcat:pfyvw6n6bbbrxkv26o2za46viu
Efficient Estimation of Dynamic Density Functions with Applications in Data Streams
[chapter]
2018
Studies in Big Data
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KDE-Track summarizes the distribution of a data stream by estimating the Probability Density Function (PDF) of the stream at a set of resampling points. ...
A typical solution to tackle the problems of mining data streams is to learn a model that fits in the computer memory. ...
Fig. 2 : 2 Example of adaptive resampling: more resampling points are used in regions with high curvature of the function.
11: end for 12: while a new sample x x xt arrives in the stream do 13:
2 it ...
doi:10.1007/978-3-319-89803-2_11
fatcat:nfuip3y55nb7hdsilr47c6pbki
Guided Learning of Control Graphs for Physics-Based Characters
2016
ACM Transactions on Graphics
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The difficulty of developing control strategies has been a primary bottleneck in the adoption of physics-based simulations of human motion. ...
We present a method for learning robust feedback strategies around given motion capture clips as well as the transition paths between clips. ...
The guided sample selection and resampling implicitly focuses the exploration on regions of the state space that are both relevant to the current policy as well as regions of the action space that are ...
doi:10.1145/2893476
fatcat:vshdaunjbrdxvgraskhdaum3uu
Localization and navigation of the CoBots over long-term deployments
2013
The international journal of robotics research
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motion model of the robot, and either the observed odometry or command actions, followed by a observation based weighting function and a resample step. ...
For navigation, we present a hierarchical planner, which computes a topological policy using a graph representation of the environment, computes motion commands based on the topological policy, and then ...
doi:10.1177/0278364913503892
fatcat:l5yzzzl6yvfilmt7pzvn6jdnia
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