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Data-driven topological motion planning with persistent cohomology
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-1114-6040
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2015 (English)In: Robotics: Science and Systems / [ed] Buchli J.,Hsu D.,Kavraki L.E., MIT Press, 2015, Vol. 11Conference paper, (Refereed)
Abstract [en]

In this work, we present an approach to topological motion planning which is fully data-driven in nature and which relies solely on the knowledge of samples in the free configuration space. For this purpose, we discuss the use of persistent cohomology with coefficients in a finite field to compute a basis which allows us to efficiently solve the path planning problem. The proposed approach can be used both in the case where a part of a configuration space is well-approximated by samples and, more generally, with arbitrary filtrations arising from real-world data sets. Furthermore, our approach can generate motions in a subset of the configuration space specified by the sub- or superlevel set of a filtration function such as a cost function or probability distribution. Our experiments show that our approach is highly scalable in low dimensions and we present results on simulated PR2 arm motions as well as GPS trace and motion capture data.

Place, publisher, year, edition, pages
MIT Press, 2015. Vol. 11
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-202904DOI: 10.15607/RSS.2015.XI.049Scopus ID: 2-s2.0-85006175236ISBN: 9780992374716 (print)OAI: oai:DiVA.org:kth-202904DiVA: diva2:1079176
Conference
2015 Robotics: Science and Systems Conference, RSS 2015, 13 July 2015 through 17 July 2015
Note

QC 20170307

Available from: 2017-03-07 Created: 2017-03-07 Last updated: 2017-03-07Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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Language
  • de-DE
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  • fi-FI
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More languages
Output format
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