TY - GEN
T1 - Sparsification of motion-planning roadmaps by edge contraction
AU - Shaharabani, Doron
AU - Salzman, Oren
AU - Agarwal, Pankaj K.
AU - Halperin, Dan
PY - 2013
Y1 - 2013
N2 - We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal effect on the quality of paths that can be extracted from the new roadmap. The primitive operation used by RSEC is edge contraction - the contraction of a roadmap edge to a single vertex and the connection of the new vertex to the neighboring vertices of the contracted edge. For certain scenarios, we compress more than 98% of the edges and vertices at the cost of degradation of average shortest path length by at most 2%.
AB - We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal effect on the quality of paths that can be extracted from the new roadmap. The primitive operation used by RSEC is edge contraction - the contraction of a roadmap edge to a single vertex and the connection of the new vertex to the neighboring vertices of the contracted edge. For certain scenarios, we compress more than 98% of the edges and vertices at the cost of degradation of average shortest path length by at most 2%.
UR - http://www.scopus.com/inward/record.url?scp=84887292094&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6631155
DO - 10.1109/ICRA.2013.6631155
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AN - SCOPUS:84887292094
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4098
EP - 4105
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -