License: Creative Commons Attribution 3.0 Unported license (CC BY 3.0)
When quoting this document, please refer to the following
DOI: 10.4230/LIPIcs.ESA.2018.73
URN: urn:nbn:de:0030-drops-95361
URL: http://dagstuhl.sunsite.rwth-aachen.de/volltexte/2018/9536/
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Zhou, Bo ; Chiang, Yi-Jen ; Yap, Chee

Soft Subdivision Motion Planning for Complex Planar Robots

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LIPIcs-ESA-2018-73.pdf (0.8 MB)

Abstract

The design and implementation of theoretically-sound robot motion planning algorithms is challenging. Within the framework of resolution-exact algorithms, it is possible to exploit soft predicates for collision detection. The design of soft predicates is a balancing act between easily implementable predicates and their accuracy/effectivity.
In this paper, we focus on the class of planar polygonal rigid robots with arbitrarily complex geometry. We exploit the remarkable decomposability property of soft collision-detection predicates of such robots. We introduce a general technique to produce such a decomposition. If the robot is an m-gon, the complexity of this approach scales linearly in m. This contrasts with the O(m^3) complexity known for exact planners. It follows that we can now routinely produce soft predicates for any rigid polygonal robot. This results in resolution-exact planners for such robots within the general Soft Subdivision Search (SSS) framework. This is a significant advancement in the theory of sound and complete planners for planar robots.
We implemented such decomposed predicates in our open-source Core Library. The experiments show that our algorithms are effective, perform in real time on non-trivial environments, and can outperform many sampling-based methods.

BibTeX - Entry

@InProceedings{zhou_et_al:LIPIcs:2018:9536,
  author =	{Bo Zhou and Yi-Jen Chiang and Chee Yap},
  title =	{{Soft Subdivision Motion Planning for Complex Planar Robots}},
  booktitle =	{26th Annual European Symposium on Algorithms (ESA 2018)},
  pages =	{73:1--73:14},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-081-1},
  ISSN =	{1868-8969},
  year =	{2018},
  volume =	{112},
  editor =	{Yossi Azar and Hannah Bast and Grzegorz Herman},
  publisher =	{Schloss Dagstuhl--Leibniz-Zentrum fuer Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{http://drops.dagstuhl.de/opus/volltexte/2018/9536},
  URN =		{urn:nbn:de:0030-drops-95361},
  doi =		{10.4230/LIPIcs.ESA.2018.73},
  annote =	{Keywords: Computational Geometry, Algorithmic Motion Planning, Resolution-Exact Algorithms, Soft Predicates, Planar Robots with Complex Geometry}
}

Keywords: Computational Geometry, Algorithmic Motion Planning, Resolution-Exact Algorithms, Soft Predicates, Planar Robots with Complex Geometry
Collection: 26th Annual European Symposium on Algorithms (ESA 2018)
Issue Date: 2018
Date of publication: 14.08.2018

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