Combining System Design and Path Planning

Laurent Denarie 1 Kevin Molloy 1 Marc Vaisset 2 Thierry Siméon 1 Juan Cortés 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
2 LAAS-IDEA - Service Informatique : Développement, Exploitation et Assistance
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : This paper addresses the simultaneous design and path planning problem, in which features associated to the bodies of a mobile system have to be selected to find the best design that optimizes its motion between two given configurations. Solving individual path planning problems for all possible designs and selecting the best result would be a straightforward approach for very simple cases. We propose a more efficient approach that combines discrete (design) and continuous (path) optimization in a single stage. It builds on an extension of a sampling-based algorithm, which simultaneously explores the configuration-space costmap of all possible designs aiming to find the best path-design pair. The algorithm filters out unsuitable designs during the path search, which breaks down the combinatorial explosion. Illustrative results are presented for relatively simple (academic) examples. While our work is currently motivated by problems in computational biology, several applications in robotics can also be envisioned.
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Communication dans un congrès
Workshop on the Algorithmic Foundations of Robotics (WAFR), Dec 2016, San Francisco, United States. 〈http://wafr2016.berkeley.edu/index.html〉
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  • HAL Id : hal-01364042, version 1

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Laurent Denarie, Kevin Molloy, Marc Vaisset, Thierry Siméon, Juan Cortés. Combining System Design and Path Planning. Workshop on the Algorithmic Foundations of Robotics (WAFR), Dec 2016, San Francisco, United States. 〈http://wafr2016.berkeley.edu/index.html〉. 〈hal-01364042〉

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