Narrow passage identification using cell decomposition approximation and minimum spanning tree
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14330%2F15%3A00083544" target="_blank" >RIV/00216224:14330/15:00083544 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Narrow passage identification using cell decomposition approximation and minimum spanning tree
Original language description
Narrow passage problem is a problematic issue facing the sampling-based motion planner. In this paper, a new approach for narrow areas identification is proposed. The quad-tree cell-decomposition approximation is used to divide the free workspace into smaller cells, and build a graph of adjacency for these. The proposed method follows the graph edges and finds a sequence of cells, which have the same size, preceded and followed by a bigger cell size. The sequence, which has the pattern bigger-smaller-bigger cells size, is more likely to be located in a narrow area. The minimum spanning tree algorithm is used, to linearize adjacency graph. Many methods have been proposed to manipulate the edges cost in the graph, in order to make the generated spanningtree traverse through narrow passages in detectable ways. Five methods have been proposed, some of them give bad results, and the others give better on in simulations
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
International Conference of Soft Computing, Mendel Journal series
ISBN
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ISSN
1803-3814
e-ISSN
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Number of pages
8
Pages from-to
131-138
Publisher name
BUT FME
Place of publication
Brno
Event location
Brno
Event date
Jan 1, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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