Detecting narrow passages in configuration spaces via spectra of probabilistic roadmaps

Authors:
Hassan Mohy-ud-Din;Abubakr Muhammad
Affiliations:
Lahore University of Management Sciences, Lahore, Pakistan;Lahore University of Management Sciences, Lahore, Pakistan
Venue:
Proceedings of the 2010 ACM Symposium on Applied Computing
Year:
2010

Citing 7
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Abstract

In this paper, we explore the connection between the spectral properties of a configuration space with those of the underlying probabilistic road map. We explore this relationship in a simple motion planning example which leads to a new method of characterizing narrow passages using the so called graph Laplacian of the PRM.