Croatian Society of PRM and UEMS PRM Section and Board agreement

HPRM: a hierarchical PRM

We introduce a hierarchical variant of the probabilistic roadmap method for motion planning. By recursively refining an initially sparse sampling in neighborhoods of the C-obstacle boundary, our algorithm generates a smaller roadmap that is more likely to find narrow passages than uniform sampling. We analyze the failure probability and computation time, relating them to path length, path clear...

Generalizing the Analysis of PRM

This paper presents a novel analysis of the probabilistic roadmap method (PRM) for path planning. We formulate the problem in terms of computing the transitive closure of a relation over a probability space and give a bound in terms of the number of intermediate points for some path and the probability of choosing a point from a certain set. Explicit geometric assumptions are not necessary to c...

Generalizing the Analysis of PRM

Path Planning Using Lazy PRM

Development of the Medi SPICE PRM

As the importance and complexity of medical device software continues to increase there is growing demand for effective process assessment and improvement in this domain. To address this need the Medi SPICE process assessment and improvement model is being developed. Regulatory compliance is both an important and challenging aspect of medical device software development. Particularly as new reg...