284 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
Exact Computation of a Manifold Metric, via Lipschitz Embeddings and Shortest Paths on a Graph
Data-sensitive metrics adapt distances locally based the density of data
points with the goal of aligning distances and some notion of similarity. In
this paper, we give the first exact algorithm for computing a data-sensitive
metric called the nearest neighbor metric. In fact, we prove the surprising
result that a previously published -approximation is an exact algorithm.
The nearest neighbor metric can be viewed as a special case of a
density-based distance used in machine learning, or it can be seen as an
example of a manifold metric. Previous computational research on such metrics
despaired of computing exact distances on account of the apparent difficulty of
minimizing over all continuous paths between a pair of points. We leverage the
exact computation of the nearest neighbor metric to compute sparse spanners and
persistent homology. We also explore the behavior of the metric built from
point sets drawn from an underlying distribution and consider the more general
case of inputs that are finite collections of path-connected compact sets.
The main results connect several classical theories such as the conformal
change of Riemannian metrics, the theory of positive definite functions of
Schoenberg, and screw function theory of Schoenberg and Von Neumann. We develop
novel proof techniques based on the combination of screw functions and
Lipschitz extensions that may be of independent interest.Comment: 15 page
Asymptotically near-optimal RRT for fast, high-quality, motion planning
We present Lower Bound Tree-RRT (LBT-RRT), a single-query sampling-based
algorithm that is asymptotically near-optimal. Namely, the solution extracted
from LBT-RRT converges to a solution that is within an approximation factor of
1+epsilon of the optimal solution. Our algorithm allows for a continuous
interpolation between the fast RRT algorithm and the asymptotically optimal
RRT* and RRG algorithms. When the approximation factor is 1 (i.e., no
approximation is allowed), LBT-RRT behaves like RRG. When the approximation
factor is unbounded, LBT-RRT behaves like RRT. In between, LBT-RRT is shown to
produce paths that have higher quality than RRT would produce and run faster
than RRT* would run. This is done by maintaining a tree which is a sub-graph of
the RRG roadmap and a second, auxiliary graph, which we call the lower-bound
graph. The combination of the two roadmaps, which is faster to maintain than
the roadmap maintained by RRT*, efficiently guarantees asymptotic
near-optimality. We suggest to use LBT-RRT for high-quality, anytime motion
planning. We demonstrate the performance of the algorithm for scenarios ranging
from 3 to 12 degrees of freedom and show that even for small approximation
factors, the algorithm produces high-quality solutions (comparable to RRG and
RRT*) with little running-time overhead when compared to RRT
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