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Abstract

Marco A. Morales A., Lydia Tapia, Roger Pearce, Samuel Rodriguez, Nancy M. Amato, "C-Space Subdivision and Integration in Feature-Sensitive Motion Planning," Technical Report, TR04-004, Parasol Laboratory, Department of Computer Science, Texas A&M University, College Station, Texas, U.S.A., Sep 2004.
Technical Report(ps, pdf, abstract)

There are many randomized motion planning techniques, but it is often difficult to determine what planning method to apply to best solve a problem. Planners have their own strengths and weaknesses, and each one is best suited to a specific type of problem. In previous work, we developed a prototype meta-planner that, through analysis of the problem features, subdivides it into regions and determines which planner to apply in which region of the problem. The results obtained with our prototype system were very promising even though it utilized simplistic strategies for all components. Even so, we did identify that problem subdivision and partial regional solution integration strategies are crucial to performance. In this paper, we propose new methods for these steps to improve the performance of the meta-planner. For problem subdivision, we propose two new methods: a method based on `gaps`, and a method based on information theory. For integrating partial solutions, we propose a new method that concentrates attention on integrating neighboring areas of the regional solutions. We present results that show the performance gain achieved by utilizing these new strategies.