47,739 research outputs found
Batch Informed Trees (BIT*): Informed Asymptotically Optimal Anytime Search
Path planning in robotics often requires finding high-quality solutions to
continuously valued and/or high-dimensional problems. These problems are
challenging and most planning algorithms instead solve simplified
approximations. Popular approximations include graphs and random samples, as
respectively used by informed graph-based searches and anytime sampling-based
planners. Informed graph-based searches, such as A*, traditionally use
heuristics to search a priori graphs in order of potential solution quality.
This makes their search efficient but leaves their performance dependent on the
chosen approximation. If its resolution is too low then they may not find a
(suitable) solution but if it is too high then they may take a prohibitively
long time to do so. Anytime sampling-based planners, such as RRT*,
traditionally use random sampling to approximate the problem domain
incrementally. This allows them to increase resolution until a suitable
solution is found but makes their search dependent on the order of
approximation. Arbitrary sequences of random samples approximate the problem
domain in every direction simultaneously and but may be prohibitively
inefficient at containing a solution. This paper unifies and extends these two
approaches to develop Batch Informed Trees (BIT*), an informed, anytime
sampling-based planner. BIT* solves continuous path planning problems
efficiently by using sampling and heuristics to alternately approximate and
search the problem domain. Its search is ordered by potential solution quality,
as in A*, and its approximation improves indefinitely with additional
computational time, as in RRT*. It is shown analytically to be almost-surely
asymptotically optimal and experimentally to outperform existing sampling-based
planners, especially on high-dimensional planning problems.Comment: International Journal of Robotics Research (IJRR). 32 Pages. 16
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Software tools for stochastic programming: A Stochastic Programming Integrated Environment (SPInE)
SP models combine the paradigm of dynamic linear programming with
modelling of random parameters, providing optimal decisions which hedge
against future uncertainties. Advances in hardware as well as software
techniques and solution methods have made SP a viable optimisation tool.
We identify a growing need for modelling systems which support the creation
and investigation of SP problems. Our SPInE system integrates a number of
components which include a flexible modelling tool (based on stochastic
extensions of the algebraic modelling languages AMPL and MPL), stochastic
solvers, as well as special purpose scenario generators and database tools.
We introduce an asset/liability management model and illustrate how SPInE
can be used to create and process this model as a multistage SP application
Beyond Chance-Constrained Convex Mixed-Integer Optimization: A Generalized Calafiore-Campi Algorithm and the notion of -optimization
The scenario approach developed by Calafiore and Campi to attack
chance-constrained convex programs utilizes random sampling on the uncertainty
parameter to substitute the original problem with a representative continuous
convex optimization with convex constraints which is a relaxation of the
original. Calafiore and Campi provided an explicit estimate on the size of
the sampling relaxation to yield high-likelihood feasible solutions of the
chance-constrained problem. They measured the probability of the original
constraints to be violated by the random optimal solution from the relaxation
of size .
This paper has two main contributions. First, we present a generalization of
the Calafiore-Campi results to both integer and mixed-integer variables. In
fact, we demonstrate that their sampling estimates work naturally for variables
restricted to some subset of . The key elements are
generalizations of Helly's theorem where the convex sets are required to
intersect . The size of samples in both algorithms will
be directly determined by the -Helly numbers.
Motivated by the first half of the paper, for any subset , we introduce the notion of an -optimization problem, where the
variables take on values over . It generalizes continuous, integer, and
mixed-integer optimization. We illustrate with examples the expressive power of
-optimization to capture sophisticated combinatorial optimization problems
with difficult modular constraints. We reinforce the evidence that
-optimization is "the right concept" by showing that the well-known
randomized sampling algorithm of K. Clarkson for low-dimensional convex
optimization problems can be extended to work with variables taking values over
.Comment: 16 pages, 0 figures. This paper has been revised and split into two
parts. This version is the second part of the original paper. The first part
of the original paper is arXiv:1508.02380 (the original article contained 24
pages, 3 figures
Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs
In this paper, we present Batch Informed Trees (BIT*), a planning algorithm
based on unifying graph- and sampling-based planning techniques. By recognizing
that a set of samples describes an implicit random geometric graph (RGG), we
are able to combine the efficient ordered nature of graph-based techniques,
such as A*, with the anytime scalability of sampling-based algorithms, such as
Rapidly-exploring Random Trees (RRT).
BIT* uses a heuristic to efficiently search a series of increasingly dense
implicit RGGs while reusing previous information. It can be viewed as an
extension of incremental graph-search techniques, such as Lifelong Planning A*
(LPA*), to continuous problem domains as well as a generalization of existing
sampling-based optimal planners. It is shown that it is probabilistically
complete and asymptotically optimal.
We demonstrate the utility of BIT* on simulated random worlds in
and and manipulation problems on CMU's HERB, a
14-DOF two-armed robot. On these problems, BIT* finds better solutions faster
than RRT, RRT*, Informed RRT*, and Fast Marching Trees (FMT*) with faster
anytime convergence towards the optimum, especially in high dimensions.Comment: 8 Pages. 6 Figures. Video available at
http://www.youtube.com/watch?v=TQIoCC48gp
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
OneMax in Black-Box Models with Several Restrictions
Black-box complexity studies lower bounds for the efficiency of
general-purpose black-box optimization algorithms such as evolutionary
algorithms and other search heuristics. Different models exist, each one being
designed to analyze a different aspect of typical heuristics such as the memory
size or the variation operators in use. While most of the previous works focus
on one particular such aspect, we consider in this work how the combination of
several algorithmic restrictions influence the black-box complexity. Our
testbed are so-called OneMax functions, a classical set of test functions that
is intimately related to classic coin-weighing problems and to the board game
Mastermind.
We analyze in particular the combined memory-restricted ranking-based
black-box complexity of OneMax for different memory sizes. While its isolated
memory-restricted as well as its ranking-based black-box complexity for bit
strings of length is only of order , the combined model does not
allow for algorithms being faster than linear in , as can be seen by
standard information-theoretic considerations. We show that this linear bound
is indeed asymptotically tight. Similar results are obtained for other memory-
and offspring-sizes. Our results also apply to the (Monte Carlo) complexity of
OneMax in the recently introduced elitist model, in which only the best-so-far
solution can be kept in the memory. Finally, we also provide improved lower
bounds for the complexity of OneMax in the regarded models.
Our result enlivens the quest for natural evolutionary algorithms optimizing
OneMax in iterations.Comment: This is the full version of a paper accepted to GECCO 201
Importance mixing: Improving sample reuse in evolutionary policy search methods
Deep neuroevolution, that is evolutionary policy search methods based on deep
neural networks, have recently emerged as a competitor to deep reinforcement
learning algorithms due to their better parallelization capabilities. However,
these methods still suffer from a far worse sample efficiency. In this paper we
investigate whether a mechanism known as "importance mixing" can significantly
improve their sample efficiency. We provide a didactic presentation of
importance mixing and we explain how it can be extended to reuse more samples.
Then, from an empirical comparison based on a simple benchmark, we show that,
though it actually provides better sample efficiency, it is still far from the
sample efficiency of deep reinforcement learning, though it is more stable
Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic
Rapidly-exploring random trees (RRTs) are popular in motion planning because
they find solutions efficiently to single-query problems. Optimal RRTs (RRT*s)
extend RRTs to the problem of finding the optimal solution, but in doing so
asymptotically find the optimal path from the initial state to every state in
the planning domain. This behaviour is not only inefficient but also
inconsistent with their single-query nature.
For problems seeking to minimize path length, the subset of states that can
improve a solution can be described by a prolate hyperspheroid. We show that
unless this subset is sampled directly, the probability of improving a solution
becomes arbitrarily small in large worlds or high state dimensions. In this
paper, we present an exact method to focus the search by directly sampling this
subset.
The advantages of the presented sampling technique are demonstrated with a
new algorithm, Informed RRT*. This method retains the same probabilistic
guarantees on completeness and optimality as RRT* while improving the
convergence rate and final solution quality. We present the algorithm as a
simple modification to RRT* that could be further extended by more advanced
path-planning algorithms. We show experimentally that it outperforms RRT* in
rate of convergence, final solution cost, and ability to find difficult
passages while demonstrating less dependence on the state dimension and range
of the planning problem.Comment: 8 pages, 11 figures. Videos available at
https://www.youtube.com/watch?v=d7dX5MvDYTc and
https://www.youtube.com/watch?v=nsl-5MZfwu
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