Path planning in expansive configuration spaces
نویسندگان
چکیده
We introduce the notion of expansiveness to characterize a family of robot conngu-ration spaces whose connectivity can be eeectively captured by a roadmap of randomly-sampled milestones. The analysis of expansive connguration spaces has inspired us to develop a new randomized planning algorithm. This new algorithm tries to sample only the portion of the connguration space that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire connguration space. Thus, it is well-suited for problems where only a single query is submitted for a given environment. The algorithm has been implemented and successfully applied to complex assembly maintainability problems from the automotive industry.
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