IEEE - Institute of Electrical and Electronics Engineers, Inc. - CHOMP: Gradient optimization techniques for efficient motion planning

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Ratliff, Nathan ; Zucker, Matt ; Bagnell, J. Andrew ; Srinivasa, Siddhartha
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 489 - 494
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152817
Regular:

Existing high-dimensional motion planning algorithms are simultaneously overpowered and underpowered. In domains sparsely populated by obstacles, the heuristics used by sampling-based planners to... View More

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