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A multi-tree extension of the Transition-based RRT: Application to ordering-and-pathfinding problems in continuous cost spaces

Didier Devaurs 1 Thierry Simeon 1 Juan Cortés 1 
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : The Transition-based RRT (T-RRT) is a variant of RRT developed for path planning on a continuous cost space, i.e. a configuration space featuring a continuous cost function. It has been used to solve complex, high-dimensional problems in robotics and structural biology. In this paper, we propose a multiple-tree variant of T-RRT, named Multi-T-RRT. It is especially useful to solve ordering-and-pathfinding problems, i.e. to compute a path going through several unordered waypoints. Using the Multi-T-RRT, such problems can be solved from a purely geometrical perspective, without having to use a symbolic task planner. We evaluate the Multi-T-RRT on several path planning problems and compare it to other path planners. Finally, we apply the Multi-T-RRT to a concrete industrial inspection problem involving an aerial robot.
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Submitted on : Thursday, August 21, 2014 - 11:24:48 AM
Last modification on : Monday, July 4, 2022 - 8:37:12 AM
Long-term archiving on: : Thursday, November 27, 2014 - 12:45:49 PM

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  • HAL Id : hal-01057030, version 1

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Didier Devaurs, Thierry Simeon, Juan Cortés. A multi-tree extension of the Transition-based RRT: Application to ordering-and-pathfinding problems in continuous cost spaces. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2014, Chicago, United States. 6 p. ⟨hal-01057030⟩

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