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Sparsification of Motion-Planning Roadmaps by Edge Contraction
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| Edge Contraction: Graph before (left) and after (right) the contraction of the edge (v3, v4) to the point v34. Obstacle is depicted by the green triangle. |
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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%.
Roadmap example before and after RSEC*:
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| Before | After |
* Scenario provided with the OMPL distribution.
Links
- Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal and Dan Halperin.
Sparsification of Motion-Planning Roadmaps by Edge Contraction.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4083-4090, 2013
arXiv, 2012 [pdf]
