File Download
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.15302/J-ENG-2015009
- Scopus: eid_2-s2.0-84988728337
- WOS: WOS:000422301300013
- Find via
Supplementary
- Citations:
- Appears in Collections:
Article: Efficient Configuration Space Construction and Optimization for Motion Planning
Title | Efficient Configuration Space Construction and Optimization for Motion Planning |
---|---|
Authors | |
Keywords | configuration space GPU parallel algorithm motion planning |
Issue Date | 2015 |
Citation | Engineering, 2015, v. 1, n. 1, p. 046-057 How to Cite? |
Abstract | The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms of configuration spaces. In this paper, we survey some of our recent work on solving two important challenges related to configuration spaces:(figure presented) how to efficiently perform geometric proximity and motion planning queries in high-dimensional configuration spaces. We present new configuration space construction algorithms based on machine learning and geometric approximation techniques. These algorithms perform collision queries on many configuration samples. The collision query results are used to compute an approximate representation for the configuration space, which quickly converges to the exact configuration space. We also present parallel GPU-based algorithms to accelerate the performance of optimization and search computations in configuration spaces. In particular, we design efficient GPU-based parallel k-nearest neighbor and parallel collision detection algorithms and use these algorithms to accelerate motion planning. |
Persistent Identifier | http://hdl.handle.net/10722/308704 |
ISSN | 2023 Impact Factor: 10.1 2023 SCImago Journal Rankings: 1.646 |
ISI Accession Number ID |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Pan, Jia | - |
dc.contributor.author | Manocha, Dinesh | - |
dc.date.accessioned | 2021-12-08T07:49:57Z | - |
dc.date.available | 2021-12-08T07:49:57Z | - |
dc.date.issued | 2015 | - |
dc.identifier.citation | Engineering, 2015, v. 1, n. 1, p. 046-057 | - |
dc.identifier.issn | 2095-8099 | - |
dc.identifier.uri | http://hdl.handle.net/10722/308704 | - |
dc.description.abstract | The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms of configuration spaces. In this paper, we survey some of our recent work on solving two important challenges related to configuration spaces:(figure presented) how to efficiently perform geometric proximity and motion planning queries in high-dimensional configuration spaces. We present new configuration space construction algorithms based on machine learning and geometric approximation techniques. These algorithms perform collision queries on many configuration samples. The collision query results are used to compute an approximate representation for the configuration space, which quickly converges to the exact configuration space. We also present parallel GPU-based algorithms to accelerate the performance of optimization and search computations in configuration spaces. In particular, we design efficient GPU-based parallel k-nearest neighbor and parallel collision detection algorithms and use these algorithms to accelerate motion planning. | - |
dc.language | eng | - |
dc.relation.ispartof | Engineering | - |
dc.rights | This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License. | - |
dc.subject | configuration space | - |
dc.subject | GPU parallel algorithm | - |
dc.subject | motion planning | - |
dc.title | Efficient Configuration Space Construction and Optimization for Motion Planning | - |
dc.type | Article | - |
dc.description.nature | published_or_final_version | - |
dc.identifier.doi | 10.15302/J-ENG-2015009 | - |
dc.identifier.scopus | eid_2-s2.0-84988728337 | - |
dc.identifier.volume | 1 | - |
dc.identifier.issue | 1 | - |
dc.identifier.spage | 046 | - |
dc.identifier.epage | 057 | - |
dc.identifier.isi | WOS:000422301300013 | - |