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SDK: A proposal of a general and efficient deterministic sampling sequence
Rosell Gratacòs, Jan; Roa Garzón, Máximo; Pérez, Alexander; García, Fernando
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
Previous works have already demonstrated that deterministic sampling can be competitive with respect to probabilistic sampling in sampling-based path planners. Nevertheless, the definition of a general sampling sequence for any d-dimensional Configuration Space satisfying the requirements needed for path planning is not a trivial issue, over a multi-grid cell decomposition, of the ordering of the 2d descendant cells of any parent cell. This ordering is generated by the digital construction method using a d x d matrix Td. A general expression of this matrix (i.e. for any d) is introduced and its performance analyzed in terms of the mutual distance. The paper ends with a performance evaluation of the use of the proposed deterministic sampling sequence in different well know path planners
Àrees temàtiques de la UPC::Informàtica::Robòtica
Sampling
Robots
Planificació de moviments
Mostratge determinista
Planificación de movimientos
Muestreo determinista
Motion planning
Deterministic sampling
Robots -- Sistemes de control -- Informes tècnics
Mostreig (Estadística) -- Aplicacions
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
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