Geometric Probability Results for Bounding Path Quality in Sampling-based Roadmaps after Finite Computation
Title | Geometric Probability Results for Bounding Path Quality in Sampling-based Roadmaps after Finite Computation |
Publication Type | Conference Paper |
Year of Publication | 2015 |
Authors | Dobson, A, Moustakides, GV, Bekris, KE |
Conference Name | IEEE International Conference on Robotics and Automation (ICRA) |
Date Published | 05/2015 |
Conference Location | Seattle, WA |
Abstract | Sampling-based algorithms provide efficient solutions to high-dimensional, geometrically complex motion planning problems. For these methods asymptotic results are known in terms of completeness and optimality. Previous work by the authors argued that such methods also provide probabilistic near-optimality after finite computation time using indications from Monte Carlo experiments. This work |
URL | http://www.cs.rutgers.edu/~kb572/pubs/finite_prm.pdf |