Iterative Solution for the Narrow Passage Problem in Motion Planning
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F22%3A43966432" target="_blank" >RIV/49777513:23520/22:43966432 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-031-08751-6_16" target="_blank" >http://dx.doi.org/10.1007/978-3-031-08751-6_16</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-031-08751-6_16" target="_blank" >10.1007/978-3-031-08751-6_16</a>
Alternative languages
Result language
angličtina
Original language name
Iterative Solution for the Narrow Passage Problem in Motion Planning
Original language description
Finding a path in a narrow passage is a bottleneck for randomised sampling-based motion planning methods. This paper introduces a technique that solves this problem. The main inspiration was the method of exit areas for cavities in protein models, but the proposed solution can also be used in another context. For data with narrow passages, the proposed method finds passageways for which sampling-based methods are not sufficient, or provides information that a collision-free path does not exist. With such information, it is possible to quit the motion planning computation if no solution exists and its further search would be a loss of time. Otherwise, the method continues to sample the space with sampling-based method (a RRT algorithm) until a solution is found or the maximum number of iterations is reached. The method was tested on real biomolecular data - dcp protein - and on artificial data (to show the superiority of the proposed solution on better-imagined data) with positive results.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Lecture Notes in Computer Science 22nd International Conference on Computational Science, ICCS 2022
ISBN
978-3-031-08750-9
ISSN
0302-9743
e-ISSN
1611-3349
Number of pages
14
Pages from-to
219-232
Publisher name
Springer
Place of publication
Cham
Event location
London
Event date
Jun 21, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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