Authors: Nancy M. Amato, O. Burchan Bayazit, Lucia K. Dale, Christopher Jones, Daniel Vallejo

Venue: Robotics: The Algorithmic Perspective (Third Workshop on Algorithmic Foundations of Robotics, WAFR 1998)
DOI:
Link to Publication

Abstract:
Recently, a new class of randomized path planning methods, known as Probabilistic Roadmap Methods (prms) have shown great potential for solving compli­ cated high-dimensional problems, pr m s use randomiza­ tion (usually during preprocessing) to construct a graph of representative paths in C-space (a roadmap) whose vertices correspond to collision-free configurations of the robot and in which two vertices are connected by an edge if a path between the two corresponding config­ urations can be found by a local planning method. 

@inproceedings{Amato-oaopf3-1998, 
 author = {N. M. Amato and O. B. Bayazit and L. K. Dale and C. V. Jones and D. Vallejo}, 
 booktitle = {Proc. of Workshop on Algorithmic Foundations of Robotics {(WAFR'98)}}, 
 month = {March}, 
 pages = {155-168}, 
 title = {{OBPRM:} An Obstacle-Based {PRM} for {3D} Workspaces}, 
 year = {1998} 
}