12,293 research outputs found
An Extensible Benchmarking Infrastructure for Motion Planning Algorithms
Sampling-based planning algorithms are the most common probabilistically
complete algorithms and are widely used on many robot platforms. Within this
class of algorithms, many variants have been proposed over the last 20 years,
yet there is still no characterization of which algorithms are well-suited for
which classes of problems. This has motivated us to develop a benchmarking
infrastructure for motion planning algorithms. It consists of three main
components. First, we have created an extensive benchmarking software framework
that is included with the Open Motion Planning Library (OMPL), a C++ library
that contains implementations of many sampling-based algorithms. Second, we
have defined extensible formats for storing benchmark results. The formats are
fairly straightforward so that other planning libraries could easily produce
compatible output. Finally, we have created an interactive, versatile
visualization tool for compact presentation of collected benchmark data. The
tool and underlying database facilitate the analysis of performance across
benchmark problems and planners.Comment: Submitted to IEEE Robotics & Automation Magazine (Special Issue on
Replicable and Measurable Robotics Research), 201
Severity-sensitive norm-governed multi-agent planning
This research was funded by Selex ES. The software developed during this research, including the norm analysis and planning algorithms, the simulator and harbour protection scenario used during evaluation is freely available from doi:10.5258/SOTON/D0139Peer reviewedPublisher PD
On the Benefits of Surrogate Lagrangians in Optimal Control and Planning Algorithms
This paper explores the relationship between numerical integrators and
optimal control algorithms. Specifically, the performance of the differential
dynamical programming (DDP) algorithm is examined when a variational integrator
and a newly proposed surrogate variational integrator are used to propagate and
linearize system dynamics. Surrogate variational integrators, derived from
backward error analysis, achieve higher levels of accuracy while maintaining
the same integration complexity as nominal variational integrators. The
increase in the integration accuracy is shown to have a large effect on the
performance of the DDP algorithm. In particular, significantly more optimized
inputs are computed when the surrogate variational integrator is utilized
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