Searcharxiv⌕ Search
Home/Archive/arXiv

arXiv · 1107.0803

Motion Planning via Manifold Samples

Oren Salzman·Michael Hemmer·Barak Raveh·Dan Halperin
View original source ↗Read source document ↗Export metadata ↓

Abstract

We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably simpler sampling-based approaches that are appropriate for higher dimensions. In order to facilitate the transfer of advanced geometric algorithms into practical use, we suggest taking samples that are entire low-dimensional manifolds of the configuration space that capture the connectivity of the configuration space much better than isolated point samples. Geometric algorithms for analysis of low-dimensional manifolds then provide powerful primitive operations. The modular design of the framework enables independent optimization of each modular component. Indeed, we have developed, implemented and optimized a primitive operation for complete and exact combinatorial analysis of a certain set of manifolds, using arrangements of curves of rational functions and concepts of generic programming. This in turn enabled us to implement our framework for the concrete case of a polygonal robot translating and rotating amidst polygonal obstacles. We demonstrate that the integration of several carefully engineered components leads to significant speedup over the popular PRM sampling-based algorithm, which represents the more simplistic approach that is prevalent in practice. We foresee possible extensions of our framework to solving high-dimensional problems beyond motion planning.

Explore related subjects

cs.CGcs.RO

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Oren Salzman, Michael Hemmer, Barak Raveh, Dan Halperin. 2011-07-05. Motion Planning via Manifold Samples. https://doi.org/10.1007/s00453-012-9736-1

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Almost Linear Universal Point Sets for Planar Graphs

A point set is universal for planar graphs on $n$ vertices if every such graph has a straight-line drawing without crossings whose vertices belong to the set. We construct universal point sets of size $n^{1+o(1)}$, improving the previous quadratic upper bound. Our construction uses the reduction of Bannister, Cheng, Devanny, and Eppstein from universal point sets to superpatterns for $213$-avoiding permutations. We represent these permutations by ordered rooted forests and construct a small family of intervals containing every such forest. The result follows from a straightforward bound on the size of the family of intervals. GPT-6 Astra assisted in developing the construction and proof.

cs.CG↗
arXiv2026

Some results on Archdeacon's conjecture for rotation systems

A rotation system on $n$ elements assigns to each element a cyclic order of the other $n-1$ elements. A four-element subset is non-planar if its induced rotation system cannot be realized by a crossing-free drawing of $K_4$. As a combinatorial strengthening of Hill's conjecture on the crossing number of the complete graph, Archdeacon conjectured that every rotation system on $n$ elements has at least $H(n)=\frac{1}{4} \lfloor\frac {n}{2}\rfloor \lfloor\frac{n-1}{2}\rfloor \lfloor\frac{n-2}{2}\rfloor \lfloor\frac{n-3}{2}\rfloor$ non-planar four-element subsets. We computationally verify Archdeacon's conjecture for $n\leq 10$ and show that every extremal rotation system in these orders is realizable by a simple drawing. With computer assistance, we prove that every rotation system on $n$ elements has at least $(8/9 - o(1)) H(n)$ non-planar four-element subsets. We also present a proof by hand for a weaker lower bound of $(2/3-o(1)) H(n)$. Finally, extending recent work of Felsner on antipodal pairs in drawings, we show that Archdeacon's conjecture holds for antipodally shellable rotation systems.

cs.CG↗
arXiv2026

The Hyperbolic Surface Distance, Diameter, and Dirichlet Problems

Despite the prominence of hyperbolic surfaces in mathematics, basic algorithmic questions about them, even computing the distance between two points, have remained open, leaving many features of these surfaces inaccessible. The classical machinery assumes a polyhedral structure absent on a smooth surface. We remove these obstacles. We begin with an efficient $O(g^2)$ algorithm for the distance between two points, where $g$ is the genus of the surface. Building on it, we obtain an $O(g^2 \log g)$ method for answering distance queries from a fixed source and, as a consequence, for recentering a Dirichlet domain around an arbitrary point. This understanding of distances on the surface then lets us approximate the diameter to within any $\eps$ in time $O(g^3 \log g / \eps^2)$. We further show that the diameter, a single real number encoding a great deal about the surface, is exactly computable. Its hyperbolic cosine is an algebraic number over the field encoding the coefficients of the hyperbolic isometries defining the surface.

cs.CG↗