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Paper Title: Anytime Search-Based Footstep Planning with Suboptimality Bounds

Contents

  1. Paper Title: Anytime Search-Based Footstep Planning with Suboptimality Bounds
  2. Citation
  3. Full Text
  4. Results
    1. A* footstep planning in dense clutter (11.9 s)
    2. ARA* footstep planning in dense clutter (0.7 s)
    3. R* footstep planning in dense clutter (0.4 s)
  5. Documentation and Code

Citation

@INPROCEEDINGS{hornung12humanoids,
  author = {Armin Hornung and Andrew Dornbush and Maxim Likhachev and Maren 
  Bennewitz},
  title = {Anytime Search-Based Footstep Planning with Suboptimality Bounds},
  booktitle = {Proc.~of the IEEE-RAS International Conference on Humanoid 
  Robots (HUMANOIDS)},
  year = 2012,
  month = {November},
  address = {Osaka, Japan}
}

Full Text

hornung12humanoids.pdf

Results

Some exemplary planning results (see the paper for details):

A* footstep planning in dense clutter (11.9 s)

dense_clutter_astar_sm.png

ARA* footstep planning in dense clutter (0.7 s)

dense_clutter_ara_dijkstra_1st_sm.png

R* footstep planning in dense clutter (0.4 s)

dense_clutter_rstar_1st_sm.png

Documentation and Code

Please refer to the released code and documentation of the footstep_planner package for information about installing and running the code.

2022-05-28 12:21