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arXiv · 1209.4463

Sparsification of Motion-Planning Roadmaps by Edge Contraction

Doron Shaharabani·Oren Salzman·Pankaj K. Agarwal·Dan Halperin
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Abstract

We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal effect on the quality of paths that can be extracted from the new roadmap. The primitive operation used by RSEC is edge contraction - the contraction of a roadmap edge to a single vertex and the connection of the new vertex to the neighboring vertices of the contracted edge. For certain scenarios, we compress more than 98% of the edges and vertices at the cost of degradation of average shortest path length by at most 2%.

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Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal, Dan Halperin. 2012-09-20. Sparsification of Motion-Planning Roadmaps by Edge Contraction. https://arxiv.org/abs/1209.4463

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