The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods
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arXiv
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866911901492969472 |
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| author | Pasricha, Anuj Roncone, Alessandro |
| author_facet | Pasricha, Anuj Roncone, Alessandro |
| contents | In this work, we introduce LazyBoE, a multi-query method for kinodynamic motion planning with forward propagation. This algorithm allows for the simultaneous exploration of a robot's state and control spaces, thereby enabling a wider suite of dynamic tasks in real-world applications. Our contributions are three-fold: i) a method for discretizing the state and control spaces to amortize planning times across multiple queries; ii) lazy approaches to collision checking and propagation of control sequences that decrease the cost of physics-based simulation; and iii) LazyBoE, a robust kinodynamic planner that leverages these two contributions to produce dynamically-feasible trajectories. The proposed framework not only reduces planning time but also increases success rate in comparison to previous approaches. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2403_07867 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods Pasricha, Anuj Roncone, Alessandro Robotics In this work, we introduce LazyBoE, a multi-query method for kinodynamic motion planning with forward propagation. This algorithm allows for the simultaneous exploration of a robot's state and control spaces, thereby enabling a wider suite of dynamic tasks in real-world applications. Our contributions are three-fold: i) a method for discretizing the state and control spaces to amortize planning times across multiple queries; ii) lazy approaches to collision checking and propagation of control sequences that decrease the cost of physics-based simulation; and iii) LazyBoE, a robust kinodynamic planner that leverages these two contributions to produce dynamically-feasible trajectories. The proposed framework not only reduces planning time but also increases success rate in comparison to previous approaches. |
| title | The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.07867 |