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2018 | OriginalPaper | Chapter

A General Region-Based Framework for Collaborative Planning

Authors : Jory Denny, Read Sandström, Nancy M. Amato

Published in: Robotics Research

Publisher: Springer International Publishing

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Abstract

Sampling-based planning is a common method for solving motion planning problems. However, this paradigm falters in difficult scenarios, such as narrow passages. In contrast, humans can frequently identify these challenges and can sometimes propose an approximate solution. A recent method called Region Steering takes advantage of this intuition by allowing a user to define regions in the workspace to weight the search space for probabilistic roadmap planners. In this work, we extend Region Steering into a generalized Region-Based framework that is suitable for any sampling-based planning approach. We explore three variants of our framework for graph-based, tree-based, and hybrid planning methods. We evaluate these variants in simulations as a proof of concept. Our results demonstrate the benefits of our framework in reducing overall planning time.

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previous chapter Incremental Sparse GP Regression for Continuous-Time Trajectory Estimation and Mapping

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Title: A General Region-Based Framework for Collaborative Planning
Authors: Jory Denny
Read Sandström
Nancy M. Amato
Publisher: Springer International Publishing
Book: Robotics Research
Print ISBN: 978-3-319-60915-7

Electronic ISBN: 978-3-319-60916-4

Copyright Year: 2018
DOI: https://doi.org/10.1007/978-3-319-60916-4_32

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