Authors: Jory Denny and Nancy M. Amato

Abstract:
Motion planning is known to be difficult. Probabilistic planners have made great advances, but still have difficulty for problems that require planning in narrow passages or on surfaces in C space . This work proposes Toggle PRM, a new methodology for PRMs that simultaneously maps both free and obstacle space. In this paper, we focus on 2 DOF problems and show that mapping both spaces leads to increased sampling density in narrow passages and to improved overall efficiency as compared to previous sampling based approaches. 

@proceedings{Amato-tpsmoc-2011, 
 author = {Jory Denny and Nancy Amato}, 
 booktitle = {Proc. IEEE/RSJ Int. Conf. Intel. Rob. Syst. (IROS)}, 
 doi = {10.1109/IROS.2011.6095102}, 
 location = {San Francisco, CA, USA}, 
 month = {September}, 
 pages = {2632-2639}, 
 title = {Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D}, 
 year = {2011} 
}