Communication Dans Un Congrès Année : 1999

Visibility Based Probabilistic Roadmaps

Résumé

This paper presents a variant of probabilistic roadmap algorithms that recently appeared as a promising approach to motion planning. We exploit a free-space structuring of the configuration space into visibility domains in order to produce small roadmaps. The algorithm has been implemented within a software platform allowing to address a large class of mechanical systems. Experiments show the efficiency of the approach in capturing narrow passages of collision-free configuration spaces.

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hal-04292747 , version 1 (17-11-2023)

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  • HAL Id : hal-04292747 , version 1

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Carole Nissoux, Thierry Simeon, Jean-Paul Laumond. Visibility Based Probabilistic Roadmaps. IEEE/FSR International Conference on Intelligent Robots and Systems (IROS), Oct 1999, Kyongju, South Korea. ⟨hal-04292747⟩
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