2026-04-14T02:15:34Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/7502025-07-17T11:51:00Zcom_2072_1033col_2072_452950

SDK: A proposal of a general and efficient deterministic sampling sequence Rosell Gratacòs, Jan Roa Garzón, Máximo Pérez, Alexander García, Fernando 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 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 2007-03 External research report IOC-DT-P 2007-7 DPI2004-03104 DPI2005-00112 http://creativecommons.org/licenses/by-nc-nd/2.5/es/ Open Access Attribution-NonCommercial-NoDerivs 2.5 Spain