On Self-Organizing Map and Rapidly-Exploring Random Graph in Multi-Goal Planning

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00237222" target="_blank" >RIV/68407700:21230/16:00237222 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-319-28518-4_12" target="_blank" >http://dx.doi.org/10.1007/978-3-319-28518-4_12</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-28518-4_12" target="_blank" >10.1007/978-3-319-28518-4_12</a>

Result language
angličtina
Original language name
On Self-Organizing Map and Rapidly-Exploring Random Graph in Multi-Goal Planning
Original language description
This paper reports on ongoing work towards an extension of the self-organizing maps for the traveling salesman problem to more challenging problems of multi-goal trajectory planning for complex robots with a high-dimensional configuration space. The main challenge of this problem is that the distance function needed to find a sequence of the visits to the goals is not known a priori and it is not easy to compute. To address this challenge, we propose to utilize the unsupervised learning in a trade-off between the exploration of the distance function and exploitation of its current model. The proposed approach is based on steering the sampling process in a randomized sampling-based motion planning technique to create a suitable motion planning roadmap, which represents the required distance function. The presented results shows the proposed approach quickly provides an admissible solution, which may be further improved by additional samples of the configuration space
Czech name
—
Czech description
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Project
<a href="/en/project/GP13-18316P" target="_blank" >GP13-18316P: Self-Organizing Maps for Multi-Goal Path Planning Tasks</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 11th Workshop on Self-Organizicng Maps - Advances in Intelligent Systems and Computing
ISBN
978-3-319-28517-7
ISSN
2194-5357
e-ISSN
—
Number of pages
11
Pages from-to
143-153
Publisher name
Springer
Place of publication
Heidelberg
Event location
Houston
Event date
Jan 6, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000381879200012

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