DocumentCode
2160597
Title
Probabilistic analysis of sampling based path planning algorithms
Author
Bera, Titas ; Seetharama Bhat, M. ; Ghose, Debasish
Author_Institution
Dept. of Aerosp. Eng., Indian Inst. of Sci., Bangalore, India
fYear
2013
fDate
28-30 Aug. 2013
Firstpage
370
Lastpage
375
Abstract
In this paper we investigate probabilistic completeness and asymptotic optimality of various existing randomized sampling based algorithms such as, probabilistic roadmap methods (PRM) and its many variants. We give new alternate proofs to many such existing theorems regarding probabilistic completeness and asymptotic optimality, in both incremental and independent random problem model framework.
Keywords
optimal control; path planning; probability; random processes; robots; sampling methods; PRM; asymptotic optimality; incremental random problem model; independent random problem model; probabilistic analysis; probabilistic completeness; probabilistic roadmap method; randomized sampling based algorithms; sampling based path planning algorithm; theorem proof; Arrays; Convergence; Dispersion; Path planning; Probabilistic logic; Random variables; Tin;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control (ISIC), 2013 IEEE International Symposium on
Conference_Location
Hyderabad
Type
conf
DOI
10.1109/ISIC.2013.6658624
Filename
6658624
Link To Document