Multi-modal motion planning in non-expansive spaces
Published
Conference Paper
The motion planning problems encountered in manipulation and legged locomotion have a distinctive multi-modal structure, where the space of feasible configurations consists of overlapping submanifolds of different dimensionalities. Such a feasible space does not possess expansiveness, a property that characterizes whether planning queries can be solved with traditional sample-based planners.We present a new sample-based multi-modal planning algorithm and analyze its completeness properties. In particular, it converges quickly when each mode is expansive relative to the submanifold in which it is embedded. We also present a variant that has the same convergence properties, but works better for problems with a large number of modes by considering subsets that are likely to contain a solution path. These algorithms are demonstrated in a legged locomotion planner. © 2009 Springer-Verlag.
Full Text
Duke Authors
Cited Authors
- Hauser, K; Latombe, JC
Published Date
- March 29, 2010
Published In
Volume / Issue
- 57 /
Start / End Page
- 615 - 630
Electronic International Standard Serial Number (EISSN)
- 1610-742X
International Standard Serial Number (ISSN)
- 1610-7438
International Standard Book Number 13 (ISBN-13)
- 9783642003110
Digital Object Identifier (DOI)
- 10.1007/978-3-642-00312-7_38
Citation Source
- Scopus