Generating Near-Minimal Spanning Control Sets for Constrained Motion Planning in Discrete State Spaces

Mihail Pivtoraiko and Alonzo Kelly. Generating Near-Minimal Spanning Control Sets for Constrained Motion Planning in Discrete State Spaces. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3231–3237, August 2005.

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Abstract

We propose a principled method to create a search space for constrained motion planning, which efficiently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alternatives. This set of motion primitives preserves the connectivity of the representation while eliminating redundancy -- leading to a very efficient structure for motion planning at the chosen resolution.

BibTeX

@INPROCEEDINGS{pivtoraiko_kelly_iros05,
  author = {Mihail Pivtoraiko and Alonzo Kelly},
  title = {Generating Near-Minimal Spanning Control Sets for Constrained Motion
	Planning in Discrete State Spaces},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent
	Robots and Systems},
  year = {2005},
  pages = {3231--3237},
  month = {August},
  abstract = {We propose a principled method to create a search space
                  for constrained motion planning, which efficiently
                  encodes only feasible motion plans. The space of
                  possible paths is encoded implicitly in the
                  connections between states, but only feasible and
                  only local connections are allowed. Furthermore, we
                  propose a systematic method to generate a
                  near-minimal set of spatially distinct motion
                  alternatives.  This set of motion primitives
                  preserves the connectivity of the representation
                  while eliminating redundancy -- leading to a very
                  efficient structure for motion planning at the
                  chosen resolution.},
  bib2html_pubtype = {Refereed Conference Papers},
  bib2html_rescat = {Kinodynamic Planning},
  doi = {10.1109/IROS.2005.1545046}
}

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