Sampling-Based Path Planning on Configuration-Space Costmaps

Jaillet, Léonard; Cortés, Juan; Siméon, Thierry

doi:10.1109/tro.2010.2049527

Cited by 314 publications

(255 citation statements)

References 28 publications

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“…Second, the temperature is regulated all over the tree construction process, so that heating phases only occur when necessary for passing through higher energy barriers in order to reach other conformational regions. Consequently, paths computed by T-RRT tend to minimize the total amount of positive energy variation (empirical proofs have been provided by Jaillet et al [37]). Therefore, such paths are good candidates to represent transitions between pairs of stable conformations.…”

Section: Transition Path Search Methodsmentioning

confidence: 99%

“…For instance, methods based on robotics algorithms have been proposed to analyze protein loop mobility [29,30], to compute large-amplitude conformational transitions in proteins [31,32], to investigate protein and RNA folding pathways [33,34], or to simulate ligand diffusion inside proteins considering flexible molecular models [35,36]. The present work proposes a conformational exploration method, called Transition-RRT (T-RRT) [37], which is inspired by robotic path planning algorithms and by methods in statistical physics. T-RRT can be seen as a non-canonical sampling method to identify interesting points on the energy landscape (i.e.…”

Section: Introductionmentioning

confidence: 99%

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Randomized tree construction algorithm to explore energy landscapes

et al. 2011

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We report in the present work a new method for exploring conformational energy landscapes. The method, called T-RRT, combines ideas from statistical physics and robot path planning algorithms. A search tree is constructed on the conformational space starting from a given state. The tree expansion is driven by a double strategy: on the one hand, it is naturally biased towards yet unexplored regions of the space; on the other, a Monte Carlo-like transition test guides the expansion toward energetically favorable regions. The balance between these two strategies is automatically achieved thanks to a self-tuning mechanism. The method is able to efficiently find both, energy minima and transition paths between them. As a proof of concept, the method is applied to two academic benchmarks and to the alanine dipeptide.

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Section: Transition Path Search Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Randomized tree construction algorithm to explore energy landscapes

et al. 2011

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“…Although the paths generated with RRTlike algorithms are typically jerky, the CUIK suite provides procedures to smooth them, and to generate near-optimal paths when there is a cost function defined over the C-space. If the cost is defined for each configuration, the suite implements an extended version of the T-RRT algorithm in [7]. For instance, Fig.…”

Section: Continuation Methodsmentioning

confidence: 99%

An Open-Source Toolbox for Motion Analysis of Closed-Chain Mechanisms

Porta

Ros

Bohigas

et al. 2013

Computational Kinematics

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Many situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), there is a lack of general tools to effectively analyze the complex configuration spaces of such systems. This paper describes the CUIK suite, an open-source toolbox for motion analysis of general closed-chain mechanisms. The package can determine the motion range of the whole mechanism or of some of its parts, detect singular configurations leading to control or dexterity issues, or find collision-and singularity-free paths between given configurations. The toolbox is the result of several years of research and development within the Kinematics and Robot Design group at IRI, Barcelona, and is available under GPLv3 license from http://www.iri.upc.edu/cuik.

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“…Since we will define a cost function over the configuration space, we can use a cost-based path planner, such as the Transition-based RRT (T-RRT) [9], in order to obtain good-quality manipulation paths. T-RRT has been successfully applied to various types of problems in robotics [9,2] and structural biology [10]. But, it is worth noting that, to the best of our knowledge, this is the first time it is applied to aerial manipulation problems.…”

Section: Overview Of the Contributionmentioning

confidence: 99%

“…This quality will be measured by a formal criterion derived from the static analysis of the system, based on a similar formulation as that used for cabledriven manipulators [6,4]. A path-planing algorithm taking this quality measure into account [9] will then be applied to compute good-quality paths.…”

Section: Introductionmentioning

confidence: 99%

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

Manubens¹,

Devaurs²,

Ros³

et al. 2013

Robotics: Science and Systems IX

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Abstract-Performing aerial 6-dimensional manipulation using flying robots is a challenging problem, to which only little work has been devoted. This paper proposes a motion planning approach for the reliable 6-dimensional quasi-static manipulation with an aerial towed-cable system. The novelty of this approach lies in the use of a cost-based motion-planning algorithm together with some results deriving from the static analysis of cabledriven manipulators. Based on the so-called wrench-feasibility constraints applied to the cable tensions, as well as thrust constraints applied to the flying robots, we formally characterize the set of feasible configurations of the system. Besides, the expression of these constraints leads to a criterion to evaluate the quality of a configuration. This allows us to define a cost function over the configuration space, which we exploit to compute good-quality paths using the T-RRT algorithm. As part of our approach, we also propose an aerial towed-cable system that we name the FlyCrane. It consists of a platform attached to three flying robots using six fixed-length cables. We validate the proposed approach on two simulated 6-D quasi-static manipulation problems involving such a system, and show the benefit of taking the cost function into account for such motion planning tasks.

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Sampling-Based Path Planning on Configuration-Space Costmaps

Cited by 314 publications

References 28 publications

Randomized tree construction algorithm to explore energy landscapes

Randomized tree construction algorithm to explore energy landscapes

An Open-Source Toolbox for Motion Analysis of Closed-Chain Mechanisms

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

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