Welfare and PRM: Formalization of an ethical approach in a PRM pole

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...

Probabilistic Relational Model (PRM)_based Technical Knowledge Formalization for Dependability of an Industrial System

This paper proposes a methodology to develop a decision-making aid tool which purpose is to assess the dependability and performances of an industrial system. This model is based on a new formalism, called the probabilistic relational model (PRM) which is adapted to deal with large and complex systems. The objective is to evaluate system’s performances in order to optimize the enterprise mainte...

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...

A Reactive Lazy PRM Approach for Nonholonomic Motion Planning

Generalizing the Analysis of PRM