<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>47</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Plaku, E.</style></author><author><style face="normal" font="default" size="100%">Lydia E. Kavraki</style></author><author><style face="normal" font="default" size="100%">Moshe Y. Vardi</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning</style></title><secondary-title><style face="normal" font="default" size="100%">Robotics: Science and Systems</style></secondary-title></titles><keywords><keyword><style  face="normal" font="default" size="100%">hybrid systems</style></keyword><keyword><style  face="normal" font="default" size="100%">kavrakilab</style></keyword><keyword><style  face="normal" font="default" size="100%">kinodynamic/physics-based motion planning</style></keyword><keyword><style  face="normal" font="default" size="100%">path planning</style></keyword><keyword><style  face="normal" font="default" size="100%">project_DSLX</style></keyword><keyword><style  face="normal" font="default" size="100%">project_Hybrid</style></keyword></keywords><dates><year><style  face="normal" font="default" size="100%">2008</style></year><pub-dates><date><style  face="normal" font="default" size="100%">June 2007</style></date></pub-dates></dates><urls><web-urls><url><style face="normal" font="default" size="100%">http://www.roboticsproceedings.org/rss03/p40.html</style></url></web-urls></urls><publisher><style face="normal" font="default" size="100%">MIT Press</style></publisher><pub-location><style face="normal" font="default" size="100%">Atlanta, Georgia</style></pub-location><pages><style face="normal" font="default" size="100%">326-333</style></pages><language><style face="normal" font="default" size="100%">eng</style></language><abstract><style face="normal" font="default" size="100%">This paper presents the Discrete Search Leading
               continuous eXploration (DSLX) planner, a multi-resolution
               approach to motion planning that is suitable for challenging
               problems involving robots with kinodynamic constraints. Initially
               the method decomposes the workspace to build a graph that
               encodes the physical adjacency of the decomposed regions. This
               graph is searched to obtain leads, that is, sequences of regions that
               can be explored with sampling-based tree methods to generate
               solution trajectories. Instead of treating the discrete search of
               the adjacency graph and the exploration of the continuous state
               space as separate components, DSLX passes information from
               one to the other in innovative ways. Each lead suggests what
               regions to explore and the exploration feeds back information
               to the discrete search to improve the quality of future leads.
               Information is encoded in edge weights, which indicate the
               importance of including the regions associated with an edge in
               the next exploration step. Computation of weights, leads, and the
               actual exploration make the core loop of the algorithm.

               Extensive experimentation shows that DSLX is very versatile.
               The discrete search can drastically change the lead to reflect
               new information allowing DSLX to find solutions even when
               sampling-based tree planners get stuck. Experimental results on
               a variety of challenging kinodynamic motion planning problems
               show computational speedups of two orders of magnitude over
               other widely used motion planning methods.</style></abstract><work-type><style face="normal" font="default" size="100%">inproceedings</style></work-type></record></records></xml>