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An Equivalence Relation for Local Path Sets

Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason
Conference Paper, Carnegie Mellon University, The Ninth International Workshop on the Algorithmic Foundations of Robotics, December, 2010

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Abstract

We propose a novel enhancement to the task of collision-testing a set of local paths. Our approach circumvents expensive collision-tests, yet it declares a continuum of paths collision-free by exploiting both the structure of paths and the outcome of previous tests. We define a homotopy-like equivalence relation among local paths and provide algorithms to (1) classify paths based on equivalence, and (2) implicitly collision-test up to 90% of them. We then prove both correctness and completeness of these algorithms before providing experimental results showing a performance increase up to 300%.

BibTeX Reference
@conference{Knepper-2010-10580,
title = {An Equivalence Relation for Local Path Sets},
author = {Ross Alan Knepper and Siddhartha Srinivasa and Matthew T. Mason},
booktitle = {The Ninth International Workshop on the Algorithmic Foundations of Robotics},
publisher = {Springer},
school = {Robotics Institute , Carnegie Mellon University},
month = {December},
year = {2010},
address = {Pittsburgh, PA},
}
2017-09-13T10:40:30+00:00