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Sampling Narrow Passages

Sampling Narrow Passages. Narrow passages. Narrowness. n -dim hypercube. connected by a tube: (n-1)-dim narrow. connected by a tube: 1-dim narrow. PRM skeleton. repeat Sample a configuration q with a suitable sampling strategy. if q is collision-free then

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Sampling Narrow Passages

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  1. Sampling Narrow Passages NUS CS 5247 David Hsu

  2. Narrow passages NUS CS 5247 David Hsu

  3. Narrowness n-dim hypercube connected by a tube: (n-1)-dim narrow connected by a tube: 1-dim narrow NUS CS 5247 David Hsu

  4. PRM skeleton repeat Sample a configuration q with a suitable sampling strategy. ifq is collision-free then Add q to the roadmap R. Connect q to existing milestones. Search R for a path. return the path if one is found NUS CS 5247 David Hsu

  5. Key elements of PRM distribution source • Sampling strategy • Distributione.g., uniform, Gaussian • Sourcee.g., pseudo-random,quasi-random, lattice • Connection strategy NUS CS 5247 David Hsu

  6. Difficulty PSAPCE-hard random sampling narrow passages NUS CS 5247 David Hsu

  7. Dilating free space dilated free space original free space NUS CS 5247 David Hsu

  8. Sampling near obstacle boundaries OBPRM Gaussian Sampler NUS CS 5247 David Hsu

  9. What is the problem here? NUS CS 5247 David Hsu

  10. Adaptive sampling 1: Initialize the sampling distribution . 2: repeat 3: Sample new milestones according to . 4: Extract partial knowledge of the configuration space. Evaluate the current roadmap. 5: Update  NUS CS 5247 David Hsu

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