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arXiv · 1710.06738

Minimizing Task Space Frechet Error via Efficient Incremental Graph Search

Rachel Holladay·Oren Salzman·Siddhartha Srinivasa
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Abstract

We present an anytime algorithm that generates a collision-free configuration-space path that closely follows a desired path in task space, according to the discrete Frechet distance. By leveraging tools from computational geometry, we approximate the search space using a cross-product graph. We use a variant of Dijkstra's graph-search algorithm to efficiently search for and iteratively improve the solution. We compare multiple proposed densification strategies and empirically show that our algorithm outperforms a set of state-of-the-art planners on a range of manipulation problems. Finally, we offer a proof sketch of the asymptotic optimality of our algorithm.

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Rachel Holladay, Oren Salzman, Siddhartha Srinivasa. 2017-10-18. Minimizing Task Space Frechet Error via Efficient Incremental Graph Search. https://doi.org/10.1109/lra.2019.2899668

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