Abstract
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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Alami, R., Laumond, J.-P., Siméon, T.: Two manipulation planning algorithms. In: Goldberg, K., Halperin, D., Latombe, J.-C., Wilson, R. (eds.) Alg. Found. Rob., pp. 109–125. A K Peters, Wellesley (1995)
Bretl, T., Lall, S., Latombe, J.-C., Rock, S.: Multi-step motion planning for free-climbing robots. In: WAFR, Zeist, Netherlands (2004)
Chaudhuri, S., Koltun, V.: Smoothed analysis of probabilistic roadmaps. In: Fourth SIAM Conf. of Analytic Algorithms and Comp. Geometry (2007)
Choset, H., Lynch, K., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L., Thrun, S.: Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, Cambridge (2005)
Cortés, J., Siméon, T.: Sampling-based motion planning under kinematic loop-closure constraints. In: WAFR, Zeist, Netherlands (2004)
Hauser, K., Bretl, T., Latombe, J.-C.: Learning-assisted multi-step planning. In: IEEE Int. Conf. Rob. Aut., Barcelona, Spain (2005)
Hauser, K., Bretl, T., Latombe, J.-C.: Non-gaited humanoid locomotion planning. In: IEEE Humanoids, Tsukuba, Japan (2005)
Hauser, K., Bretl, T., Latombe, J.-C., Wilcox, B.: Motion planning for a six-legged lunar robot. In: WAFR, New York (2006)
Hsu, D., Kavraki, L.E., Latombe, J.-C., Motwani, R., Sorkin, S.: On finding narrow passages with probabilistic roadmap planners. In: WAFR, Natick, MA, pp. 141–153 (1998)
Hsu, D., Latombe, J., Kurniawati, H.: On the probabilistic foundations of probabilistic roadmap planning. Int. J. Rob. Res. 25(7), 627–643 (2006)
Hsu, D., Latombe, J.-C., Motwani, R.: Path planning in expansive configuration spaces. In: IEEE Int. Conf. Rob. Aut., pp. 2219–2226 (1997)
Koga, Y., Latombe, J.-C.: On multi-arm manipulation planning. In: IEEE Int. Conf. Rob. Aut., San Diego, CA, pp. 945–952 (1994)
LaValle, S.M., Yakey, J.H., Kavraki, L.E.: A probabilistic roadmap approach for systems with closed kinematic chains. In: IEEE Int. Conf. Rob. Aut., Detroit, MI (1999)
Nielsen, C.L., Kavraki, L.E.: A two level fuzzy prm for manipulation planning. In: IEEE/RSJ Int. Conf. Int. Rob. Sys., pp. 1716–1721 (2000)
Nieuwenhuisen, D., van der Stappen, A.F., Overmars, M.H.: An effective framework for path planning amidst movable obstacles. In: WAFR, New York (2006)
Sahbani, A., Cortés, J., Siméon, T.: A probabilistic algorithm for manipulation planning under continuous grasps and placements. In: IEEE/RSJ Int. Conf. Int. Rob. Sys., Lausanne, Switzerland, pp. 1560–1565 (2002)
Sánchez, G., Latombe, J.-C.: On delaying collision checking in PRM planning: Application to multi-robot coordination. Int. J. of Rob. Res. 21(1), 5–26 (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Hauser, K., Latombe, JC. (2009). Multi-modal Motion Planning in Non-expansive Spaces. In: Chirikjian, G.S., Choset, H., Morales, M., Murphey, T. (eds) Algorithmic Foundation of Robotics VIII. Springer Tracts in Advanced Robotics, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00312-7_38
Download citation
DOI: https://doi.org/10.1007/978-3-642-00312-7_38
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00311-0
Online ISBN: 978-3-642-00312-7
eBook Packages: EngineeringEngineering (R0)