NDLI: A framework for planning feedback motion strategies based on a random neighborhood graph

Content Provider	IEEE Xplore Digital Library
Author	Yang, L. LaValle, S.M.
Copyright Year	2000
Description	Author affiliation: Dept. of Comput. Sci., Iowa State Univ., Ames, IA, USA (Yang, L.)
Abstract	This paper presents a randomized framework for computing feedback motion strategies, by defining a global navigation function over a collection of spherical balls in the configuration space. If the goal is changed, an updated navigation function can be quickly computed, offering benefits similar to the fast multiple queries permitted by the probabilistic roadmap approach to path planning. Our choice of balls is motivated in part by recent tools from computational geometry which compute point locations and arrangements efficiently without significant dependence on dimension. We present a construction algorithm that includes a Bayesian termination condition based on the probability that a specified fraction of the free space is covered. A basic implementation illustrates the framework for rigid and articulated bodies with up to five-dimensional configuration spaces.
Starting Page	544
Ending Page	549
File Size	716659
Page Count	6
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.844110
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Strategic planning Feedback Path planning Navigation Robot sensing systems Orbital robotics Error correction Convergence Computer science Computational geometry
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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