DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Donghyuk | ko |
dc.contributor.author | Kang, MinCheul | ko |
dc.contributor.author | Yoon, Sung-Eui | ko |
dc.date.accessioned | 2019-11-18T03:20:20Z | - |
dc.date.available | 2019-11-18T03:20:20Z | - |
dc.date.created | 2019-11-15 | - |
dc.date.created | 2019-11-15 | - |
dc.date.created | 2019-11-15 | - |
dc.date.issued | 2019-11-05 | - |
dc.identifier.citation | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), pp.1496 - 1503 | - |
dc.identifier.uri | http://hdl.handle.net/10203/268429 | - |
dc.description.abstract | We present volumetric tree*, a hybridization of sampling-based and optimization-based motion planning. Volumetric tree* constructs an adaptive sparse graph with volumetric vertices, hyper-spheres encoding free configurations, using a sampling-based motion planner for a homotopy exploration. The coarse-grained paths computed on the sparse graph are refined by optimization-based planning during the execution, while exploiting the probabilistic completeness of the sampling-based planning for the initial path generation. We also suggest a dropout technique probabilistically ensuring that the sampling-based planner is capable of identifying all possible homotopies of solution paths. We compare the proposed algorithm against the state-of-the-art planners in both synthetic and practical benchmarks with varying dimensions, and experimentally show the benefit of the proposed algorithm. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society / Robotics Society of Japan | - |
dc.title | Volumetric Tree*: Adaptive Sparse Graph for Effective Exploration of Homotopy Classes | - |
dc.type | Conference | - |
dc.identifier.wosid | 000544658401038 | - |
dc.identifier.scopusid | 2-s2.0-85081161339 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 1496 | - |
dc.citation.endingpage | 1503 | - |
dc.citation.publicationname | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) | - |
dc.identifier.conferencecountry | CA | - |
dc.identifier.conferencelocation | The Venetian Macao | - |
dc.identifier.doi | 10.1109/IROS40897.2019.8967728 | - |
dc.contributor.localauthor | Yoon, Sung-Eui | - |
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