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Finding Critical Changes in Dynamic Configuration Spaces

Finding Critical Changes in Dynamic Configuration Spaces. Yanyan Lu and Jyh-Ming Lien George Mason University. Problem Statement. Plan motion in dynamic workspace Dynamic obstacle moves along some known trajectory with bounded velocities.

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Finding Critical Changes in Dynamic Configuration Spaces

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  1. Finding Critical Changes in Dynamic Configuration Spaces Yanyan Lu and Jyh-Ming Lien George Mason University

  2. Problem Statement Plan motion in dynamic workspace Dynamic obstacle moves along some known trajectory with bounded velocities Image from “Constraint-Based Motion Planning using Voronoi Diagrams” Garber and Lin, WAFR02

  3. Existing Problems • No reusability in • Traditional methods using Configuration-Time space decomposition • Direct application of Probabilistic Roadmap Methods (PRM) or Rapidly-Exploring Random Tree (RRT)

  4. Image from “An incremental learning approach to motion planning with roadmap management”, T-Y Li and Y-C Shie, ICRA ‘02 Existing Problems • More recent methods only repair the invalid portion but at fixed time interval • Fine time resolution results in low efficiency • Low time resolution results in low completeness

  5. Our Work: Detect Topological Changes of Free C-Space time of contact time of separation time of contact time of contact

  6. Our Work: Approximate Topological Changes time of contact time of contact time of separation time of contact

  7. Main Results • Detect topology changes of free space using • time of contact: based on conservative advancement for objects with non-linear motions • time of separation: based on penetration depth • Maintain high reusability between critical changes As a result, • A more complete representation of free CT-space than approaches with fixed time resolution • Significant improvements on efficiency (at least one order of magnitude faster) observed in our experiments

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