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Physics-Based Motion Planning: Evaluation Criteria and Benchmarking

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Robot 2015: Second Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 417))

Abstract

Motion planning has evolved from coping with simply geometric problems to physics-based ones that incorporate the kinodynamic and the physical constraints imposed by the robot and the physical world. Therefore, the criteria for evaluating physics-based motion planners goes beyond the computational complexity (e.g. in terms of planning time) usually used as a measure for evaluating geometrical planners, in order to consider also the quality of the solution in terms of dynamical parameters. This study proposes an evaluation criteria and analyzes the performance of several kinodynamic planners, which are at the core of physics-based motion planning, using different scenarios with fixed and manipulatable objects. RRT, EST, KPIECE and SyCLoP are used for the benchmarking. The results show that KPIECE computes the time-optimal solution with heighest success rate, whereas, SyCLoP compute the most power-optimal solution among the planners used.

J. Rosell—This work was partially supported by the Spanish Government through the projects DPI2011-22471, DPI2013-40882-P and DPI2014-57757-R. Muhayyuddin is supported by the Generalitat de Catalunya through the grant FI-DGR 2014.

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Authors and Affiliations

  1. Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain

    Muhayyuddin Gillani, Aliakbar Akbari & Jan Rosell

Authors
  1. Muhayyuddin Gillani
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  2. Aliakbar Akbari
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  3. Jan Rosell
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Corresponding author

Correspondence to Jan Rosell .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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Gillani, M., Akbari, A., Rosell, J. (2016). Physics-Based Motion Planning: Evaluation Criteria and Benchmarking. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_4

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  • DOI: https://doi.org/10.1007/978-3-319-27146-0_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27145-3

  • Online ISBN: 978-3-319-27146-0

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