Authors: D. Vallejo, I. Remmler, N.M. Amato

Venue: Proceedings of IEEE International Conference on Robotics and Automation
DOI: 10.1109/ROBOT.2001.932524
Link to Publication

Abstract:
Describes an enhanced version of an adaptive framework for single shot motion planning (Vallejo et al., 2000). This framework is versatile, and particularly suitable for crowded environments. Our iterative strategy analyzes the characteristics of the query and adaptively selects planners whose strengths match the current situation. Contributions in the paper include an automatic method for setting and adaptively tuning planner characterizations, and reducing the reliance on programmer expertise present in the original framework. The adaptive refinement enables the system to evolve parameters specifically suited for particular classes of applications. The system now supports articulated robots, which were not supported previously. Our experimental results in complex 3D CAD environments show that our strategy solves queries that none of the planners could solve on their own. 

@inproceedings{Vallejo-aaffss-2001, 
 author = {Vallejo, D. and Remmler, I. and Amato, N.M.}, 
 booktitle = {Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)}, 
 doi = {10.1109/ROBOT.2001.932524}, 
 number = {}, 
 pages = {21-26 vol.1}, 
 title = {An adaptive framework for 'single shot' motion planning: a self-tuning system for rigid and articulated robots}, 
 volume = {1}, 
 year = {2001} 
}