Incremental Sampling-based Algorithms for Optimal Motion Planning

During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic completeness. However, no theoretical bounds on the quality of the solution obtained by these algorithms have been established so far. The first contribution of this paper is a negative result: it is proven that, under mild technical conditions, the cost of the best path in the RRT converges almost surely to a non-optimal value. Second, a new algorithm is considered, called the Rapidly-exploring Random Graph (RRG), and it is shown that the cost of the best path in the RRG converges to the optimum almost surely. Third, a tree version of RRG is introduced, called the RRT$^*$ algorithm, which preserves the asymptotic optimality of RRG while maintaining a tree structure like RRT. The analysis of the new algorithms hinges on novel connections between sampling-based motion planning algorithms and the theory of random geometric graphs. In terms of computational complexity, it is shown that the number of simple operations required by both the RRG and RRT$^*$ algorithms is asymptotically within a constant factor of that required by RRT.Comment: 20 pages, 10 figures, this manuscript is submitted to the International Journal of Robotics Research, a short version is to appear at the 2010 Robotics: Science and Systems Conference

Detection Performance in Balanced Binary Relay Trees with Node and Link Failures

We study the distributed detection problem in the context of a balanced binary relay tree, where the leaves of the tree correspond to $N$ identical and independent sensors generating binary messages. The root of the tree is a fusion center making an overall decision. Every other node is a relay node that aggregates the messages received from its child nodes into a new message and sends it up toward the fusion center. We derive upper and lower bounds for the total error probability $P_N$ as explicit functions of $N$ in the case where nodes and links fail with certain probabilities. These characterize the asymptotic decay rate of the total error probability as $N$ goes to infinity. Naturally, this decay rate is not larger than that in the non-failure case, which is $\sqrt N$. However, we derive an explicit necessary and sufficient condition on the decay rate of the local failure probabilities $p_k$ (combination of node and link failure probabilities at each level) such that the decay rate of the total error probability in the failure case is the same as that of the non-failure case. More precisely, we show that $\log P_N^{-1}=\Theta(\sqrt N)$ if and only if $\log p_k^{-1}=\Omega(2^{k/2})$

Tight Bounds for Asymptotic and Approximate Consensus

We study the performance of asymptotic and approximate consensus algorithms under harsh environmental conditions. The asymptotic consensus problem requires a set of agents to repeatedly set their outputs such that the outputs converge to a common value within the convex hull of initial values. This problem, and the related approximate consensus problem, are fundamental building blocks in distributed systems where exact consensus among agents is not required or possible, e.g., man-made distributed control systems, and have applications in the analysis of natural distributed systems, such as flocking and opinion dynamics. We prove tight lower bounds on the contraction rates of asymptotic consensus algorithms in dynamic networks, from which we deduce bounds on the time complexity of approximate consensus algorithms. In particular, the obtained bounds show optimality of asymptotic and approximate consensus algorithms presented in [Charron-Bost et al., ICALP'16] for certain dynamic networks, including the weakest dynamic network model in which asymptotic and approximate consensus are solvable. As a corollary we also obtain asymptotically tight bounds for asymptotic consensus in the classical asynchronous model with crashes. Central to our lower bound proofs is an extended notion of valency, the set of reachable limits of an asymptotic consensus algorithm starting from a given configuration. We further relate topological properties of valencies to the solvability of exact consensus, shedding some light on the relation of these three fundamental problems in dynamic networks

Sampling-based Algorithms for Optimal Motion Planning

During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e.g., as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e.g., showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value. The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e., such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.Comment: 76 pages, 26 figures, to appear in International Journal of Robotics Researc