The motion planning problems encountered in manipulation and legged locomotion have a distinctive multi-modal structure, where the space of feasible configurations consists of overlapping submanifolds of different dimensionalities. Such a feasible space does not possess expansiveness, a property that characterizes whether planning queries can be solved with traditional sample-based planners.We present a new sample-based multi-modal planning algorithm and analyze its completeness properties. In particular, it converges quickly when each mode is expansive relative to the submanifold in which it is embedded. We also present a variant that has the same convergence properties, but works better for problems with a large number of modes by considering subsets that are likely to contain a solution path. These algorithms are demonstrated in a legged locomotion planner. © 2009 Springer-Verlag.
CITATION STYLE
Hauser, K., & Latombe, J. C. (2010). Multi-modal motion planning in non-expansive spaces. In Springer Tracts in Advanced Robotics (Vol. 57, pp. 615–630). https://doi.org/10.1007/978-3-642-00312-7_38
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