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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 NUS CS 5247 David Hsu
Narrow passages NUS CS 5247 David Hsu
Narrowness n-dim hypercube connected by a tube: (n-1)-dim narrow connected by a tube: 1-dim narrow NUS CS 5247 David Hsu
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
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
Difficulty PSAPCE-hard random sampling narrow passages NUS CS 5247 David Hsu
Dilating free space dilated free space original free space NUS CS 5247 David Hsu
Sampling near obstacle boundaries OBPRM Gaussian Sampler NUS CS 5247 David Hsu
What is the problem here? NUS CS 5247 David Hsu
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