A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2004; you can also visit the original URL.
The file type is application/pdf
.
On Delaying Collision Checking in PRM Planning: Application to Multi-Robot Coordination
2002
The international journal of robotics research
This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM) planner that is: single-query -instead of pre-computing a roadmap covering the entire free space, it uses the two input query configurations to explore as little space as possible; bi-directional -it explores the robot's free space by building a roadmap made of two trees rooted at the query configurations; and lazy in checking collisions -it delays collision tests along the edges of the roadmap until they
doi:10.1177/027836402320556458
fatcat:nnvm4gd7afcqrjvek365ku7dru