Multi-modal motion planning in non-expansive spaces


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