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An adaptative deterministic sequence for sampling-based motion planners
Rosell Gratacòs, Jan; Iñíguez Galbete, Pedro
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
This paper presents a deterministic sequence with good and useful features for sampling-based motion planners, On the one hand, the proposed sequence is able to generate samples over a hierarchical grid structure of the C-space in an incremental low-dispersion manner. On the other hand it allows to locally control the degree of resolution required at each region of the C-space by disabling the generation of mode samples where they are not needed. Therefore, the proposed sequence combines the strength of deterministic sequences (good uniformity coverage), with that of random sequences (adaptive behavior)
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robots control system
Deterministic sampling
Path planning
Robòtica -- Informes tècnics
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
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