{"type":"ScholarlyArticle","title":"The Provable Virtue of Laziness in Motion Planning","authors":[{"name":"Nika Haghtalab","slug":"nika-haghtalab","given":"Nika","family":"Haghtalab","affiliation":"Microsoft Research"},{"name":"Simon Mackenzie","slug":"simon-mackenzie","given":"Simon","family":"Mackenzie","affiliation":"University of New South Wales"},{"name":"Ariel D. Procaccia","slug":"ariel-d-procaccia","given":"Ariel D.","family":"Procaccia","affiliation":"Carnegie Mellon University"},{"name":"Oren Salzman","slug":"oren-salzman","given":"Oren","family":"Salzman","affiliation":"Carnegie Mellon University"},{"name":"Siddhartha Srinivasa","slug":"siddhartha-srinivasa","given":"Siddhartha","family":"Srinivasa","affiliation":"University of Washington"}],"abstract":"The Lazy Shortest Path (LazySP) class consists of motion-planning algorithms that only evaluate edges along candidate shortest paths between the source and target. These algorithms were designed to minimize the number of edge evaluations in settings where edge evaluation dominates the running time of the algorithm such as manipulation in cluttered environments and planning for robots in surgical settings; but how close to optimal are LazySP algorithms in terms of this objective? Our main result is an analytical upper bound, in a probabilistic model, on the number of edge evaluations required by LazySP algorithms; a matching lower bound shows that these algorithms are asymptotically optimal in the worst case.","doi":"10.24963/ijcai.2019/855","url":"https://ijcai.org/proceedings/2019/855","pdf":"https://ijcai.org/proceedings/2019/0855.pdf","markdown":"https://ijcai.org/proceedings/2019/855.md","bibtex":"https://ijcai.org/proceedings/2019/bibtex/855","volume":{"slug":"2019","title":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2019","url":"https://ijcai.org/proceedings/2019/","year":2019,"location":"Macao","dates":"10-16 August 2019","editors":"Sarit Kraus","isbn":"978-0-9992411-4-1","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2019"},"section":"Best Sister Conferences","track":"Best Sister Conferences","number":855,"pages":{"first":6161,"last":6165},"keywords":["Planning and Scheduling: Robot Planning","Planning and Scheduling: Planning Algorithms","Robotics: Motion and Path Planning","Planning and Scheduling: Theoretical Foundations of Planning"],"videos":[],"references":[{"position":1,"raw":"[Bohlin and Kavraki, 2000] Robert Bohlin and Lydia E. Kavraki. Path planning using lazy PRM. In IEEE Int. Conf. on Robotics and Automation (ICRA), pages 521- 528, 2000.","title":"Path planning using lazy PRM","authors":"Kavraki Bohlin, Robert Bohlin, Lydia E Kavraki","year":"2000","venue":"IEEE Int. Conf. on Robotics and Automation (ICRA)","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"[Choset et al., 2005] Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, and Sebastian Thrun. Principles of Robot Mo- tion: Theory, Algorithms, and Implementation. MIT Press, June 2005.","title":"Principles of Robot Motion: Theory, Algorithms, and Implementation","authors":"Howie Choset, Kevin M Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E Kavraki, Sebastian Thrun","year":"2005","venue":null,"doi":null,"url":null,"internal_url":null},{"position":3,"raw":"[Choudhury et al., 2016] Shushman Choudhury, Christo- pher M. Dellin, and Siddhartha S. Srinivasa. Pareto- optimal search over configuration space beliefs for any- time motion planning. In IEEE/RSJ Int. Conf. on Intelli- gent Robots and Systems (IROS), pages 3742-3749, 2016.","title":"Paretooptimal search over configuration space beliefs for anytime motion planning","authors":"Choudhury","year":"2016","venue":"IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"[Choudhury et al., 2017] Shushman Choudhury, Oren Salz- man, Sanjiban Choudhury, and Siddhartha S. Srinivasa. Densification strategies for anytime motion planning over large dense roadmaps. In IEEE Int. Conf. on Robotics and Automation (ICRA), pages 3770-3777, 2017.","title":"Densification strategies for anytime motion planning over large dense roadmaps","authors":"Choudhury","year":"2017","venue":"IEEE Int. Conf. on Robotics and Automation (ICRA)","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"[Dellin and Srinivasa, 2016] Christopher M. Dellin and Sid- dhartha S. Srinivasa. A unifying formalism for shortest path problems with expensive edge evaluations via lazy best-first search over paths with edge selectors. In Int. Conf. on Automated Planning and Scheduling (ICAPS), pages 459-467, 2016.","title":"A unifying formalism for shortest path problems with expensive edge evaluations via lazy best-first search over paths with edge selectors","authors":"Christopher M Dellin, Siddhartha S Srinivasa","year":"2016","venue":"Int. Conf. on Automated Planning and Scheduling (ICAPS)","doi":null,"url":null,"internal_url":null},{"position":6,"raw":"[Dijkstra, 1959] Edsger W. Dijkstra. A note on two prob- lems in connexion with graphs. Numerische Mathematik, 1(1):269-271, 1959.","title":"A note on two problems in connexion with graphs","authors":"W Edsger, Dijkstra","year":"1959","venue":"Numerische Mathematik","doi":null,"url":null,"internal_url":null},{"position":7,"raw":"[Haghtalab et al., 2018] Nika Haghtalab, Simon Mackenzie, Ariel D. Procaccia, Oren Salzman, and Siddhartha S. Srinivasa. The provable virtue of laziness in motion plan- ning. In Int. Conf. on Automated Planning and Scheduling (ICAPS), pages 106-113, 2018.","title":"The provable virtue of laziness in motion planning","authors":"Nika Haghtalab, Simon Mackenzie, Ariel D Procaccia, Oren Salzman, Siddhartha S Srinivasa","year":"2018","venue":"Int. Conf. on Automated Planning and Scheduling (ICAPS)","doi":null,"url":null,"internal_url":null},{"position":8,"raw":"[Halperin et al., 2017] Dan Halperin, Oren Salzman, and Micha Sharir. Algorithmic motion planning. In Handbook of Discrete and Computational Geometry, Third Edition, pages 1311-1342. CRC Press, 2017.","title":"Algorithmic motion planning","authors":"Dan Halperin, Oren Salzman, Micha Sharir","year":"2017","venue":"Handbook of Discrete and Computational Geometry, Third Edition","doi":null,"url":null,"internal_url":null},{"position":9,"raw":"[Hart et al., 1968] Peter E. Hart, Nils J. Nilsson, and Bertram Raphael. A formal basis for the heuristic determination of minimum cost paths. IEEE Transactions on Systems, Science, and Cybernetics, SSC-4(2):100-107, 1968.","title":"A formal basis for the heuristic determination of minimum cost paths","authors":"Peter E Hart, Nils J Nilsson, Bertram Raphael","year":"1968","venue":"IEEE Transactions on Systems, Science, and Cybernetics, SSC","doi":null,"url":null,"internal_url":null},{"position":10,"raw":"[Hauser, 2015] Kris Hauser. Lazy collision checking in asymptotically-optimal motion planning. In IEEE Int. Conf. on Robotics and Automation (ICRA), pages 2951- 2957, 2015.","title":"Lazy collision checking in asymptotically-optimal motion planning","authors":"Kris Hauser","year":"2015","venue":"IEEE Int. Conf. on Robotics and Automation (ICRA)","doi":null,"url":null,"internal_url":null},{"position":11,"raw":"[Hopcroft et al., 1984] John E Hopcroft, Jacob Theodore Schwartz, and Micha Sharir. On the complexity of mo- tion planning for multiple independent objects; PSPACE- hardness of the \"warehouseman's problem\". I. J. Robotics Res., 3(4):76-88, 1984.","title":"On the complexity of motion planning for multiple independent objects; PSPACEhardness of the \"warehouseman's problem","authors":"John E Hopcroft, Jacob Theodore Schwartz, Micha Sharir","year":"1984","venue":"I. J. Robotics Res","doi":null,"url":null,"internal_url":null},{"position":12,"raw":"[Hsu et al., 1999] David Hsu, Jean-Claude Latombe, and Rajeev Motwani. Path planning in expansive configuration spaces. Int. J. Comput. Geometry Appl., 9(4-5):495-512, 1999.","title":"Path planning in expansive configuration spaces","authors":"David Hsu, Jean-Claude Latombe, Rajeev Motwani","year":"1999","venue":"Int. J. Comput. Geometry Appl","doi":null,"url":null,"internal_url":null},{"position":13,"raw":"[Karaman and Frazzoli, 2011] Sertac Karaman and Emilio Frazzoli. Sampling-based algorithms for optimal motion planning. I. J. Robotics Res., 30(7):846-894, 2011.","title":"Sampling-based algorithms for optimal motion planning","authors":"Sertac Karaman, Emilio Frazzoli","year":"2011","venue":"I. J. Robotics Res","doi":null,"url":null,"internal_url":null},{"position":14,"raw":"[Kavraki et al., 1996] Lydia E. Kavraki, Petr Svestka, Jean- Claude Latombe, and Mark H. Overmars. Probabilistic roadmaps for path planning in high-dimensional config- uration spaces. IEEE Trans. Robotics and Automation, 12(4):566-580, 1996.","title":"Probabilistic roadmaps for path planning in high-dimensional configuration spaces","authors":"Lydia E Kavraki, Petr Svestka, Jean-Claude Latombe, Mark H Overmars","year":"1996","venue":"IEEE Trans. Robotics and Automation","doi":null,"url":null,"internal_url":null},{"position":15,"raw":"[LaValle and Kuffner, 1999] Steven M. LaValle and James J. Kuffner. Randomized kinodynamic planning. In IEEE Int. Conf. on Robotics and Automation (ICRA), pages 473- 479, 1999.","title":"Randomized kinodynamic planning","authors":"Steven M Lavalle, James J Kuffner","year":"1999","venue":"IEEE Int. Conf. on Robotics and Automation (ICRA)","doi":null,"url":null,"internal_url":null},{"position":16,"raw":"[LaValle, 2006] Steven M. LaValle. Planning Algorithms. Cambridge University Press, 2006.","title":"Planning Algorithms","authors":"M Steven, Lavalle","year":"2006","venue":null,"doi":null,"url":null,"internal_url":null},{"position":17,"raw":"[Lozano-Perez, 1983] Tomas Lozano-Perez. Spatial plan- ning: A configuration space approach. IEEE Transactions on Computers, C-32(2):108-120, 1983.","title":"Spatial planning: A configuration space approach","authors":"Tomas Lozano-Perez, Lozano-Perez","year":"1983","venue":"IEEE Transactions on Computers, C","doi":null,"url":null,"internal_url":null},{"position":18,"raw":"[Mandalika et al., 2018] Aditiya Mandalika, Oren Salzman, and Siddhartha S. Srinivasa. Efficient shortest-path al- gorithm for graphs with expensive edge evaluation via lazy lookahead. In Int. Conf. on Automated Planning and Scheduling (ICAPS), pages 476-484, 2018.","title":"Efficient shortest-path algorithm for graphs with expensive edge evaluation via lazy lookahead","authors":"Mandalika","year":"2018","venue":"Int. Conf. on Automated Planning and Scheduling (ICAPS)","doi":null,"url":null,"internal_url":null},{"position":19,"raw":"[Mandalika et al., 2019] Aditiya Mandalika, Sanjiban Choushury, Oren Salzman, and Siddhartha S. Srinivasa. Generalized lazy search for robot motion planning: Interleaving search and edge evaluation via event-based toggles. In Int. Conf. on Automated Planning and Scheduling (ICAPS), 2019. to appear.","title":"Generalized lazy search for robot motion planning: Interleaving search and edge evaluation via event-based toggles","authors":"Mandalika","year":"2019","venue":"Int. Conf. on Automated Planning and Scheduling (ICAPS)","doi":null,"url":null,"internal_url":null},{"position":20,"raw":"[Salzman and Halperin, 2015] Oren Salzman and Dan Halperin. Asymptotically-optimal motion planning using lower bounds on cost. In IEEE Int. Conf. on Robotics and Automation (ICRA), pages 4167-4172, 2015.","title":"Asymptotically-optimal motion planning using lower bounds on cost","authors":"Halperin ; Salzman, Oren Salzman, Dan Halperin","year":"2015","venue":"IEEE Int. Conf. on Robotics and Automation (ICRA)","doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}