Robotics: Science and Systems III

Predicting Partial Paths from Planning Problem Parameters

Sarah Finney, Leslie Kaelbling, and Tomas Lozano-Perez

Abstract: Many robot motion planning problems can be described as a combination of motion through relatively sparsely filled regions of configuration space and motion through tighter passages. Sample-based planners perform very effectively everywhere but in the tight passages. In this paper, we provide a method for parametrically describing workspace arrangements that are difficult for planners, and then learning a function that proposes partial paths through them as a function of the parameters. These suggested partial paths are then used to significantly speed up planning for new problems.



    AUTHOR    = {S. Finney and L. Kaelbling and T. Lozano-Perez},
    TITLE     = {Predicting Partial Paths from Planning Problem Parameters},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2007},
    ADDRESS   = {Atlanta, GA, USA},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2007.III.006}