21,332 research outputs found
Experience-Based Planning with Sparse Roadmap Spanners
We present an experienced-based planning framework called Thunder that learns
to reduce computation time required to solve high-dimensional planning problems
in varying environments. The approach is especially suited for large
configuration spaces that include many invariant constraints, such as those
found with whole body humanoid motion planning. Experiences are generated using
probabilistic sampling and stored in a sparse roadmap spanner (SPARS), which
provides asymptotically near-optimal coverage of the configuration space,
making storing, retrieving, and repairing past experiences very efficient with
respect to memory and time. The Thunder framework improves upon past
experience-based planners by storing experiences in a graph rather than in
individual paths, eliminating redundant information, providing more
opportunities for path reuse, and providing a theoretical limit to the size of
the experience graph. These properties also lead to improved handling of
dynamically changing environments, reasoning about optimal paths, and reducing
query resolution time. The approach is demonstrated on a 30 degrees of freedom
humanoid robot and compared with the Lightning framework, an experience-based
planner that uses individual paths to store past experiences. In environments
with variable obstacles and stability constraints, experiments show that
Thunder is on average an order of magnitude faster than Lightning and planning
from scratch. Thunder also uses 98.8% less memory to store its experiences
after 10,000 trials when compared to Lightning. Our framework is implemented
and freely available in the Open Motion Planning Library.Comment: Submitted to ICRA 201
Characterising submonolayer deposition via visibility graphs
We use visibility graphs as a tool to analyse the results of kinetic Monte
Carlo (kMC) simulations of submonolayer deposition in a one-dimensional point
island model. We introduce an efficient algorithm for the computation of the
visibility graph resulting from a kMC simulation and show that from the
properties of the visibility graph one can determine the critical island size,
thus demonstrating that the visibility graph approach, which implicitly
combines size and spatial data, can provide insights into island nucleation and
growth processes
Recognizing Visibility Graphs of Polygons with Holes and Internal-External Visibility Graphs of Polygons
Visibility graph of a polygon corresponds to its internal diagonals and
boundary edges. For each vertex on the boundary of the polygon, we have a
vertex in this graph and if two vertices of the polygon see each other there is
an edge between their corresponding vertices in the graph. Two vertices of a
polygon see each other if and only if their connecting line segment completely
lies inside the polygon, and they are externally visible if and only if this
line segment completely lies outside the polygon. Recognizing visibility graphs
is the problem of deciding whether there is a simple polygon whose visibility
graph is isomorphic to a given input graph. This problem is well-known and
well-studied, but yet widely open in geometric graphs and computational
geometry.
Existential Theory of the Reals is the complexity class of problems that can
be reduced to the problem of deciding whether there exists a solution to a
quantifier-free formula F(X1,X2,...,Xn), involving equalities and inequalities
of real polynomials with real variables. The complete problems for this
complexity class are called Existential Theory of the Reals Complete.
In this paper we show that recognizing visibility graphs of polygons with
holes is Existential Theory of the Reals Complete. Moreover, we show that
recognizing visibility graphs of simple polygons when we have the internal and
external visibility graphs, is also Existential Theory of the Reals Complete.Comment: Sumbitted to COCOON2018 Conferenc
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