About: Unsupervised Learning of Growing Roadmap in Multi-Goal Motion Planning Problem

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Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://www.cs.unm.edu/amprg/mlpc14Workshop/schedule.html
Description	In this paper, we address the multi-goal motion planning problem in which it is required to determine an order of visits of a pre-specified set of goals together with the shortest trajectories connecting the goals. The considered problem is inspired by inspection planning missions, where multiple goals must be visited with a required precision. The problem combines challenges of the combinatorial traveling salesman problem with difficulties of the motion planning. The presented approach is based on unsupervised learning of the self-organizing map technique for the traveling salesman problem applied in the configuration space. This learning technique takes an advantage of acquiring information about exploring the configuration space into a topology of the map that is simultaneously exploited in determination of the multi-goal trajectory and further directions of motion planning roadmap expansion. Presented results indicate that the proposed approach is feasible and it is able to provide a solution of the multi-goal motion planning problem without a priori known sequence of the goals visits. In this paper, we address the multi-goal motion planning problem in which it is required to determine an order of visits of a pre-specified set of goals together with the shortest trajectories connecting the goals. The considered problem is inspired by inspection planning missions, where multiple goals must be visited with a required precision. The problem combines challenges of the combinatorial traveling salesman problem with difficulties of the motion planning. The presented approach is based on unsupervised learning of the self-organizing map technique for the traveling salesman problem applied in the configuration space. This learning technique takes an advantage of acquiring information about exploring the configuration space into a topology of the map that is simultaneously exploited in determination of the multi-goal trajectory and further directions of motion planning roadmap expansion. Presented results indicate that the proposed approach is feasible and it is able to provide a solution of the multi-goal motion planning problem without a priori known sequence of the goals visits. (en)
Title	Unsupervised Learning of Growing Roadmap in Multi-Goal Motion Planning Problem Unsupervised Learning of Growing Roadmap in Multi-Goal Motion Planning Problem (en)
skos:prefLabel	Unsupervised Learning of Growing Roadmap in Multi-Goal Motion Planning Problem Unsupervised Learning of Growing Roadmap in Multi-Goal Motion Planning Problem (en)
skos:notation	RIV/68407700:21230/14:00224911!RIV15-MSM-21230___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(GP13-18316P), S
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	Vaněk, Petr Faigl, Jan Vokřínek, Jiří
http://linked.open.../riv/druhVysledku	O - Ostatní výsledky nezařaditelné do žádného z výše uvedených druhů výsledku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	52044
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/14:00224911
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Motion planning; Traveling salesman problem (en)
http://linked.open.../riv/klicoveSlovo	Traveling salesman problem Motion planning
http://linked.open...ontrolniKodProRIV	[08D1400E5BAB]
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Self-Organizing Maps for Multi-Goal Path Planning Tasks
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Faigl, Jan Vokřínek, Jiří Vaněk, Petr
http://localhost/t...ganizacniJednotka	21230

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