Abstract

A. Ranganathan and S. Koenig. PDRRTs: Integrating Graph-Based and Cell-Based Planning. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pages 2799-2808, 2004.

Abstract: Motion-planning problems can be solved by discretizing the continuous configuration space, for example with graph-based or cell-based techniques. We study rapidly exploring random trees (RRTs) as an example of graph-based techniques and the parti-game method as an example of cell-based techniques. We then propose parti-game directed RRTs (PDRRTs) as a novel technique that combines them. PDRRTs are based on the parti-game method but use RRTs as local controllers rather than the simplistic controllers used by the parti-game method. Our experimental results show that PDRRTs plan faster and solve more motion-planning problems than RRTs and plan faster and with less memory than the parti-game method.

Download the paper in pdf.

Download the paper in gzipped postscript (large download time).

Many publishers do not want authors to make their papers available electronically after the papers have been published. Please use the electronic versions provided here only if hardcopies are not yet available. If you have comments on any of these papers, please send me an email! Also, please send me your papers if we have common interests.


This page was automatically created by a bibliography maintenance system that was developed as part of an undergraduate research project, advised by Sven Koenig.