Interactive Navigation in Complex Environments Using Path Planning Salomon et al.(2003) University of North Carolina. Presented by Mohammed Irfan Rafiq Using Slides from Xiaoshan Pan(2003). Motivations.
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Presented by Mohammed Irfan Rafiq
Using Slides from Xiaoshan Pan(2003)
Runtime algorithm PlanningBasic Idea
1. Pick a random config. Planningc
2. Can c be a Connector? See any Guards in Rc?
- Yes then connect, goto while (else goto 3)
3. Can c be a Guard? See any Guards in Rg?
- no! c becomes a Guard, connect to connectors (if any), goto while
- yes reject c, goto while
While (map_coverage < P_cover), do // map_coverage = guards_reachable/entire_space
Be a Connector
Be a Guard
set of guards as the new connector, then discard
the new connector
subset of guards that is reachable from the new
connector, then add the new connector and
remove the existing connector
goalSearch for a path: init goal
GravityRoadmap - Sampling
Gravity PlanningRoadmap - Sampling
number of connectors is minimized by connector
reachable from at least one guard
lower bound on the ratio Nreachable/N
> 90 with the original direction