Home research People General Info Seminars Resources Intranet
Abstract

Marco Morales, Lydia Tapia, Roger Pearce, Samuel Rodriguez, Nancy M. Amato, "A Machine Learning Approach for Feature-Sensitive Motion Planning," In Proc. Int. Wkshp. on Alg. Found. of Rob. (WAFR), pp. 361-376, Utrecht/Zeist, The Netherlands, Jul 2004.
Proceedings(ps, pdf, abstract)

Although there are many motion planning techniques, there is no method that outperforms all others for all problem instances. Rather, each technique has different strengths and weaknesses which makes it best-suited for certain types of problems. Moreover, since an environment can contain vastly different regions, there may not be a single planner that will perform well in all its regions. Ideally, one would use a suite of planners in concert and would solve the problem by applying the best-suited planner in each region. In this paper, we propose an automated framework for feature-sensitive motion planning. We use a machine learning approach to characterize and partition C-space into regions that are well suited to one of the methods in our library of roadmap-based motion planners. After the best-suited method is applied in each region, the resulting region roadmaps are combined to form a roadmap of the entire planning space. Over a range of problems, we demonstrate that our simple prototype system reliably outperforms any of the planners on their own.