Generating near minimal spanning control sets for constrained motion planning in discrete state spaces

Mikhail Pivtoraiko and Alonzo Kelly
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 3231 - 3237.


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Abstract
We propose a principled method to create a search space for constrained motion planning, which efficiently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alternatives. This set of motion primitives preserves the connectivity of the representation while eliminating redundancy - leading to a very efficient structure for motion planning at the chosen resolution.

Notes
Number of pages: 7

Text Reference
Mikhail Pivtoraiko and Alonzo Kelly, "Generating near minimal spanning control sets for constrained motion planning in discrete state spaces," Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 3231 - 3237.

BibTeX Reference
@inproceedings{Pivtoraiko_2005_5627,
   author = "Mikhail Pivtoraiko and Alonzo Kelly",
   title = "Generating near minimal spanning control sets for constrained motion planning in discrete state spaces",
   booktitle = "Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '05)",
   pages = "3231 - 3237",
   month = "August",
   year = "2005",
}