3 research outputs found
Efficient motion planning for problems lacking optimal substructure
We consider the motion-planning problem of planning a collision-free path of
a robot in the presence of risk zones. The robot is allowed to travel in these
zones but is penalized in a super-linear fashion for consecutive accumulative
time spent there. We suggest a natural cost function that balances path length
and risk-exposure time. Specifically, we consider the discrete setting where we
are given a graph, or a roadmap, and we wish to compute the minimal-cost path
under this cost function. Interestingly, paths defined using our cost function
do not have an optimal substructure. Namely, subpaths of an optimal path are
not necessarily optimal. Thus, the Bellman condition is not satisfied and
standard graph-search algorithms such as Dijkstra cannot be used. We present a
path-finding algorithm, which can be seen as a natural generalization of
Dijkstra's algorithm. Our algorithm runs in time, where~ and are the number of vertices and
edges of the graph, respectively, and is the number of intersections
between edges and the boundary of the risk zone. We present simulations on
robotic platforms demonstrating both the natural paths produced by our cost
function and the computational efficiency of our algorithm
Probabilistic Collision Constraint for Motion Planning in Dynamic Environments
Online generation of collision free trajectories is of prime importance for
autonomous navigation. Dynamic environments, robot motion and sensing
uncertainties adds further challenges to collision avoidance systems. This
paper presents an approach for collision avoidance in dynamic environments,
incorporating robot and obstacle state uncertainties. We derive a tight upper
bound for collision probability between robot and obstacle and formulate it as
a motion planning constraint which is solvable in real time. The proposed
approach is tested in simulation considering mobile robots as well as
quadrotors to demonstrate that successful collision avoidance is achieved in
real time application. We also provide a comparison of our approach with
several state-of-the-art methods.Comment: Accepted for presentation at the 16th International Conference on
Intelligent Autonomous Systems (IAS-16
Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search
Inspection planning, the task of planning motions that allow a robot to
inspect a set of points of interest, has applications in domains such as
industrial, field, and medical robotics. Inspection planning can be
computationally challenging, as the search space over motion plans that inspect
the points of interest grows exponentially with the number of inspected points.
We propose a novel method, Incremental Random Inspection-roadmap Search (IRIS),
that computes inspection plans whose length and set of inspected points
asymptotically converge to those of an optimal inspection plan. IRIS
incrementally densifies a motion planning roadmap using sampling-based
algorithms, and performs efficient near-optimal graph search over the resulting
roadmap as it is generated. We demonstrate IRIS's efficacy on a simulated
planar 5DOF manipulator inspection task and on a medical endoscopic inspection
task for a continuum parallel surgical robot in anatomy segmented from patient
CT data. We show that IRIS computes higher-quality inspection paths orders of
magnitudes faster than a prior state-of-the-art method.Comment: RSS 201