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- W2166523590 abstract "In this paper we introduce an adaptive sampling strategy for some of the more advanced probabilistic roadmap planners recently proposed. Each of these planners uses a distinct scheme to judiciously generate only well-positioned milestones that can improve the quality of the roadmap being constructed. However, the cost of generating each milestone for such a planner is usually very high. Our adaptive sampling strategy, using a fixed or dynamic decomposition of the robot's configuration space C, can guide these planners by identifying promising areas of C where (useful) milestones can be efficiently generated. Experimental results show that, for the two planners tested, the adaptive sampling strategy shortens the roadmap construction time by significantly reducing the milestone-generation cost." @default.
- W2166523590 created "2016-06-24" @default.
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- W2166523590 date "2005-06-15" @default.
- W2166523590 modified "2023-09-24" @default.
- W2166523590 title "Randomized sampling with fixed and dynamic space decomposition methods" @default.
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- W2166523590 doi "https://doi.org/10.1109/ramech.2004.1438903" @default.
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