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

Kevin Molloy; Laurent Denarie; Marc Vaisset; Thierry Simeon; Juan Cortés

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

Kevin Molloy ¹ Laurent Denarie ¹ Marc Vaisset ² Thierry Simeon 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 : robot motion planning computational biology sampling-based algorithms protein design

Document type :

Journal articles

Domain :

Computer Science [cs] / Robotics [cs.RO]

Complete list of metadatas

Cited literature [24 references] Display Hide Download

https://hal.laas.fr/hal-01834414
Contributor : Juan Cortés <>
Submitted on : Friday, July 20, 2018 - 9:39:49 AM
Last modification on : Friday, June 14, 2019 - 6:31:19 PM
Long-term archiving on : Tuesday, October 2, 2018 - 9:23:34 AM

Molloy_SDAP_IJRR-2018.pdf

Files produced by the author(s)

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

File

Identifiers

Collections

Citation

Export

Metrics

100

111

Contact

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

File

Identifiers

Collections

Citation

Export

Share

Metrics

100

111

Contact