G. Song, S. Miller, and N. Amato. Customizing PRM Roadmaps at Query Time. Proc. IEEE Int. Conf. On Robotics and Automation, Seoul, Korea, May 2001. Home/Search Document Details and Download
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....precomputing a roadmap can be amortized over a large number of queries. Single query ones are appropriate when the number of queries in a given space is small. Intermediate strategies, which precompute partial roadmaps and complete them to pro4 cess specific queries, have also been proposed [BK00, SMA01] The planner proposed in this paper follows the single query sampling paradigm. Single query strategies often build a new roadmap for each query by growing trees of sampled milestones rooted at the initial and or goal configurations [AG99, HLM97, Hsu00, Kuf99, LK99] but they differ in the way ....
G. Song, S. Miller, and N. Amato. Customizing PRM roadmaps at query time. In Proc. IEEE Int. Conf. on Robotics and Automation, 2001.
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G. Song, S. L. Miller, and N. M. Amato. Customizing PRM roadmaps at query time. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 1500--1505, 2001.
Probabilistic Roadmap Motion Planning for Deformable Objects - Burchan Bayazit Jyh-Ming Self-citation (Amato) (Correct)
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G. Song, , S.L. Miller, and N. M. Amato. Customizing PRM roadmaps at query time. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 1500-1505, 2001.
Randomized Motion Planning for Car-like Robots with C-PRM - Song, Amato (2001) (1 citation) Self-citation (Song Amato) (Correct)
....planning, as many of these problems had never before been considered candidates for automatic methods. Customizable PRM (C PRM) In this work, we apply the prm methodology to planning trajectories for car like robots. Our approach is based on a prm variant, called c prm (or Customizable prm [19]) recently developed in our group. c prm di ers from traditional prms in two ways. First, in the roadmap construction stage, we build coarse roadmaps by performing only approximate validation of roadmap nodes and edges. For example, we may approximately check the validity of an edge by only ....
....any speci ed query preferences. The advantages of c prm over traditional prms, which perform complete roadmap validation during preprocessing, are eciency, exibility, and adaptability for di erent robots. Namely, c prm proved to be signi cantly more ecient than traditional prm implementations [19]. For example, consider a roadmap with n nodes, each of which is connected to an average of k other roadmap nodes, who are at an average distance of d from it. Constructing this roadmap in its entirety would require O(nkd) validity checks the majority of which are not needed for any particular ....
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G. Song, , S.L. Miller, and N. M. Amato. Customizing prm roadmaps at query time. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2001. To appear.
On Delaying Collision Checking in PRM Planning -Application.. - Sanchez, Latombe (2002) (8 citations) (Correct)
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G. Song, S. Miller, and N. Amato. Customizing PRM Roadmaps at Query Time. Proc. IEEE Int. Conf. On Robotics and Automation, Seoul, Korea, May 2001.
Clearance Based Path Optimization - Planning (2003) (Correct)
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G. Song, S. Miller, and N. Amato, "Customizing PRM roadmaps at query time," in IEEE Int. Conf. on Robotics and Automation, 2001, pp. 1500--1505.
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