Efficient nearest neighbor searching for motion planning Export

@proceedings{citeulike:2827875, abstract = {We present and implement an efficient algorithm for performing nearest-neighbor queries in topological spaces that usually arise in the context of motion planning. Our approach extends the Kd tree-based ANN algorithm, which was developed by Arya and Mount (1993) for Euclidean spaces. We argue the correctness of the algorithm and illustrate its efficiency through computed examples. We have applied the algorithm to both probabilistic roadmaps (PRMs) and rapidly-exploring random trees (RRTs). Substantial performance improvements are shown for motion planning examples.}, author = {Atramentov, A. and Lavalle, S. M.}, booktitle = {Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on}, citeulike-article-id = {2827875}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/ROBOT.2002.1013429}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1013429}, doi = {10.1109/ROBOT.2002.1013429}, journal = {Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on}, keywords = {ann}, pages = {632--637 vol.1}, posted-at = {2008-05-24 15:35:07}, priority = {2}, title = {Efficient nearest neighbor searching for motion planning}, url = {http://dx.doi.org/10.1109/ROBOT.2002.1013429}, volume = {1}, year = {2002} }

TY - CONF ID - citeulike:2827875 L3 - citeulike-article-id:2827875 N2 - We present and implement an efficient algorithm for performing nearest-neighbor queries in topological spaces that usually arise in the context of motion planning. Our approach extends the Kd tree-based ANN algorithm, which was developed by Arya and Mount (1993) for Euclidean spaces. We argue the correctness of the algorithm and illustrate its efficiency through computed examples. We have applied the algorithm to both probabilistic roadmaps (PRMs) and rapidly-exploring random trees (RRTs). Substantial performance improvements are shown for motion planning examples. JF - Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on EP - 637 vol.1 TI - Efficient nearest neighbor searching for motion planning VL - 1 T2 - Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on SP - 632 KW - ann AU - Atramentov, A AU - Lavalle, SM PY - 2002/// UR - http://dx.doi.org/10.1109/ROBOT.2002.1013429 ER -