Efficient Nearest Neighbor Searching for Motion Planning有效最近邻搜索运动规划.pptVIP

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Efficient Nearest Neighbor Searching for Motion Planning有效最近邻搜索运动规划.ppt

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* * * SE(3) ^km more experiments , more in the thesis * Outcomes everywhere, library instead of software, mention that it has been used by Kineo, physisists…. * Connectivity, accessibility, comes from sampling * mention verification * fix * random goes first * * * * animation? * fix numbering * animation? Illustration . fix (a) (b) * animation? verification problems – mention resolution completeness comes for free * where is it used, I get lots of requests about it * * Here is an example of the RRT growing in the square environment with no obstacles. * In this work we investigate the Voronoi bias which controls the growth of the tree At different stages consider the Voronoi regions of the nodes in the tree. The tree grows in the directions of the largest Voronoi regions. * More carefully, consider a simple Voronoi diagram of some tree. We differentiate between the two types of Voronoi regions. * If the random sample falls in …… These two modes of behavior are controlled by Voronoi bias only. We want to learn to control it. * in general, changing the boundary of the domain controls the two modes in some way * In order to investigate this we consider a toy example. A 3-d bug trap is a device for catching bugs. If the food (something sweet) is put inside the trap, the bug can get easily inside, but can never leave the trap. Already by constraining the boundary would improve the performance, since…. However, let’s consider Voronoi regions more carefully. define DD * insert the slide for technical details of implementation, and newrest neighbor * * mention papers, Move 3d in LAAS, KINEO, * 3 contributions, 2 libraries, analysis, problems we never solved before, and then open problems * Expansion dominates Balanced refinement and expansion The trade-off depends on the size of the bounding box Determining the Boundary Anna Yershova Thesis Defense Technical Approach Guided Sampling Refinement is good when multiresolution search is needed Expansion is good when the tre