On the theory of user-guided planning
On the theory of user-guided planning
复制标题
浅谈用户引导规划理论
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
N. Amato
中科院分区：
文献类型：
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作者：
Jory Denny;Jonathan Colbert;Hongsen Qin;N. Amato
基于采样的技术经常用于解决各种复杂的运动规划问题——在各种机器人和/或障碍物约束下计算有效路径的问题。由于这些方法本质上是随机的，它们成功的概率直接关系到底层规划空间的广泛性或开放性。然而，在限定用户（人）指导方法提高基于抽样的计划者效率的条件方面，理论上所知甚少。在本文中，我们对常见的用户导向方法进行分类并创建了简单的模型，并扩展了可扩展性的概念来分析这些模型，以了解用户导向何时以及在多大程度上帮助基于抽样的规划者。
Sampling-based techniques are often employed to solve various complex motion planning problems -the problem of computing a valid path under various robot and/or obstacle constraints. As these methods are random in nature, the probability of their success is directly related to the expansiveness, or openness, of the underlying planning space. However, little is known theoretically in qualifying the conditions under which user (human)-guided approaches improve the efficiency of sampling-based planners. In this paper, we classify and create simplistic models of common user-guided approaches, and we extend the concept of expansiveness to analyze these models to understand both when and how much user-guidance aids sampling-based planners.