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On Experimental Research in Sampling-based Motion Planning Roland Geraerts Workshop on Benchmarks in Robotics Research IROS 2006 Probabilistic Roadmap Method Construction (G =V,E ) Loop c ? a free sample add c to the vertices V Nc ? a set of nodes for all c’ in Nc in increasing distance if c’ and c are not connected in G then if local path between c and c’ exists then add the edge c’c to E Forbidden space Free space Sample c Colliding path c c’ c Local path c’ c’ c c Probabilistic Roadmap Method Construction (G =V,E ) Loop c ? a free sample add c to the vertices V Nc ? a set of nodes for all c’ in Nc in increasing distance if c’ and c are not connected in G then if local path between c and c’ exists then add the edge c’c to E Query connect sample s and g to roadmap Dijkstra’s shortest path Forbidden space Free space Sample Start / goal Local path Shortest path Methods General setup SAMPLE Implemented in C++ using VS.NET 2003 Easy API to add techniques GUI: easily set up experiments Repeatability: load/save an experiment Easily comparing different techniques Easily examining parameter of a technique Automatically collect/process data of experiment Demo Methods Test problems Conclusions were often too general due to limited set of problems Also choose worst-case problems Methods Interchangeability Libraries taking take of common functionality Collision checking, visualization Callisto: http://www.cs.uu.nl/dennis/callisto/callisto.html [Nieuwenhuisen] Graph utilities Atlas: http://www.cs.uu.nl/dennis/atlas/atlas.html [Nieuwenhuisen] Nearest neighbor MPNN: /~yershova/mpnn/mpnn.htm [Yershova, Lavalle] Deterministic sampling methods /~yershova/so3sampling/so3sampling.htm [Yershova] Rotation in 3D /james/software [Kuffner] Methods Interchangeability Source code of motion planning framework Motion planning kit MPK: /~mitul/mpk [Latombe] Move3D http://www.laas.fr/~nic/Move3D [Siméon] Motion strategy library MSL: /msl [Lavalle] Unfortuna