A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking

By Gildardo Sánchez-Ante, Jean-Claude Latombe. International Symposium of Robotics Research, 2001

374 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/5f9d3483b2473df267991830e261dc88d01123a3

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In Aerospace Engineering

In Computer Vision and Pattern Recognition

In Control and Systems Engineering

Citations in the corpus

Motion planning for robotic manipulation of deformable linear objects (2006, methodology): “In our implementation, we use the SBL planner [17].”
Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain (2005, neutral): “putationtime, thusdifferentapproachesweredevelopedfor solving single-queryproblems[3], [16], [23], [27], [29].”
Asymptotically optimal sampling-based kinodynamic planning (2014, positive): “Bidirectional tree variants achieve improved performance (Sanchez and Latombe, 2001).”
The Open Motion Planning Library (2012, background): “SBL [30], EST [12]) to guide their search for a feasible path, as it is much easier to keep track of coverage (i.”
A Comparative Study of Probabilistic Roadmap Planners (2002, methodology): “This means that we won't consider techniques like bidirectional methods and lazy PRMs [6] [24] which are particularly suited for single shot situations and situations were just a few queries occur.”
A review: On path planning strategies for navigation of mobile robot (2019, background): “[36] made a minor variation in the probabilistic roadmap approach (PRM).”
Motion planning for urban driving using RRT (2008, neutral): “The difference from the previous work [14], [15] is that the lazy check in this paper is about re-checking of the constraints for previously feasible edges, whereas the previous work is about delaying the first collision detection in the static environment.”
Differentially constrained mobile robot motion planning in state lattices (2009, background): “Recent works have also discussed " lazy " variants of the roadmap planning methods that avoid collision checking during the roadmap construction phase (e.g., Bohlin, 2001; Bohlin & Kavraki, 2000; Branicky et al., 2001; Sanchez & Latombe, 2001, 2002).”
Planning algorithms (2006, methodology): “This method [470, 847] generates samples in a way that attempts to explore new parts of the space.”
Real-Time Motion Planning With Applications to Autonomous Urban Driving (2009, neutral): “The primary difference from previous work [29], [30] is that the lazy check in this paper is about rechecking of the constraints for previously feasible edges, whereas the pre-”
RVT: Robotic View Transformer for 3D Object Manipulation (2023, methodology): “To achieve the target gripper pose, we generate joint space actions by using the same sampling-based motion planner [60, 61] as in [5, 6].”