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CCQ: Efficient local planning using connection collision query

Title
CCQ: Efficient local planning using connection collision query
Authors
Tang M.Kim Y.J.Manocha D.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2010
Journal Title
Springer Tracts in Advanced Robotics
ISSN
1610-7438JCR Link
Citation
vol. 68, no. STAR, pp. 229 - 247
Indexed
SCOPUS scopus
Abstract
We introduce a novel proximity query, called connection collision query (CCQ), and use it for efficient and exact local planning in sampling-based motion planners. Given two collision-free configurations, CCQ checks whether these configurations can be connected by a given continuous path that either lies completely in the free space or penetrates any obstacle by at most ε, a given threshold. Our approach is general, robust, and can handle different continuous path formulations. We have integrated the CCQ algorithm with sampling-based motion planners and can perform reliable local planning queries with little performance degradation, as compared to prior methods. Moreover, the CCQ-based exact local planner is about an order of magnitude faster than prior exact local planning algorithms. © 2010 Springer-Verlag Berlin Heidelberg.
DOI
10.1007/978-3-642-17452-0_14
ISBN
9783642174513
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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