Simultaneous System Design and Path Planning: A Sampling-based Algorithm.

Kevin Molloy 1 Laurent Denarie 1 Marc Vaisset 2 Thierry Siméon 1 Juan Cortés 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
2 LAAS-IDEA - Service Informatique : Développement, Exploitation et Assistance
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : This paper addresses the simultaneous design and path planning problem, in which features associated to the bodies of a mobile system have to be selected to find the best design that optimizes its motion between two given configurations. Solving individual path planning problems for all possible designs and selecting the best result would be a straightforward approach for very simple cases. We propose a more efficient approach that combines discrete (design) and continuous (path) optimization in a single stage. It builds on an extension of a sampling-based algorithm, which simultaneously explores the configuration-space costmap of all possible designs aiming to find the best path-design pair. The algorithm filters out unsuitable designs during the path search, which breaks down the combinatorial explosion. Illustrative results are presented for relatively simple (academic) robotic examples, showing that even in these simple cases, the computational cost can be reduced by two orders of magnitude with respect to the na¨ıvena¨ıve approach. A preliminary application to challenging problems in computational biology related to protein design is also discussed at the end of the paper.
Keywords : computational biology protein design sampling-based algorithms robot motion planning
Type de document :
Article dans une revue
International Journal of Robotics Research, SAGE Publications, 2018, 〈10.1177/ToBeAssigned〉
Liste complète des métadonnées

Littérature citée [16 références]  Voir  Masquer  Télécharger
https://hal.laas.fr/hal-01834414
Contributeur : Juan Cortés <>
Soumis le : vendredi 20 juillet 2018 - 09:39:49
Dernière modification le : mercredi 12 décembre 2018 - 15:31:30
Document(s) archivé(s) le : mardi 2 octobre 2018 - 09:23:34

Fichier

Molloy_SDAP_IJRR-2018.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

LAAS | UNIV-TLSE3 | LAAS-IDEA | INSA-TOULOUSE | LAAS-ROBOTIQUE | LAAS-RIS

Citation

Kevin Molloy, Laurent Denarie, Marc Vaisset, Thierry Siméon, Juan Cortés. Simultaneous System Design and Path Planning: A Sampling-based Algorithm.. International Journal of Robotics Research, SAGE Publications, 2018, 〈10.1177/ToBeAssigned〉. 〈hal-01834414〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

68

Téléchargements de fichiers

58

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD