An adaptative deterministic sequence for sampling-based motion planners

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dc.contributor	Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.contributor.author	Rosell Gratacòs, Jan
dc.contributor.author	Iñíguez Galbete, Pedro
dc.date	2004-09
dc.identifier.uri	http://hdl.handle.net/2117/567
dc.language.iso	eng
dc.relation	IOC-DT-P
dc.relation	2004-12
dc.relation	DPI2001-2202
dc.relation	DPI2002-03540
dc.rights	Attribution-NonCommercial-NoDerivs 2.5 Spain
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	http://creativecommons.org/licenses/by-nc-nd/2.5/es/
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Robots control system
dc.subject	Deterministic sampling
dc.subject	Path planning
dc.subject	Robòtica -- Informes tècnics
dc.title	An adaptative deterministic sequence for sampling-based motion planners
dc.type	info:eu-repo/semantics/report
dc.description.abstract	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)

Rosell Gratacòs, Jan; Iñíguez Galbete, Pedro

Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander; Iñíguez Galbete, Pedro

Diab, Mohammed; Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan

Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; García Hidalgo, Néstor

Suárez Feijóo, Raúl; Rosell Gratacòs, Jan

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