Robotic motion-planning problems, such as a UAV flying fast in a partially-known environment or a robot arm moving around cluttered objects, require finding collision-free paths quickly. Typically, this is solved by constructing a graph, where vertices represent robot configurations and edges represent potentially valid movements of the robot between these configurations. The main computational bottlenecks are expensive edge evaluations to check for collisions. State of the art planning methods do not reason about the optimal sequence of edges to evaluate in order to find a collision free path quickly. In this work, we do so by drawing a novel equivalence between motion planning and the Bayesian active learning paradigm of decision region determination (DRD). Given priors on the validity of edges, our goal is to evaluate a sequence of edges that drive uncertainty into a single decision region where a path is valid.
|Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs
Sanjiban Choudhury, Shervin Javdani, Siddhartha Srinivasa, Sebastian Scherer
Neural Information Processing Systems 2017