Sampling-Based Motion Planning with Discrete Configuration-Space Symmetries Article Swipe

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YOU? · · 2025 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2503.00614

When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter trajectories. However, finite symmetries lead to complicated changes to the underlying topology of configuration space, preventing the use of standard algorithms. We demonstrate how the key primitives used for sampling-based planning can be efficiently implemented in spaces with finite symmetries. A rigorous theoretical analysis, building upon a study of the geometry of the configuration space, shows improvements in the sample complexity of several standard algorithms. Furthermore, a comprehensive slate of experiments demonstrates the practical improvements in both path length and runtime.

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Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2503.00614
PDF: https://arxiv.org/pdf/2503.00614
OA Status: green
OpenAlex ID: https://openalex.org/W4415308758

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OpenAlex ID: https://openalex.org/W4415308758

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DOI: https://doi.org/10.48550/arxiv.2503.00614

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Title: Sampling-Based Motion Planning with Discrete Configuration-Space Symmetries

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Type: preprint

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Language: en

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Publication year: 2025

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Publication date: 2025-03-01

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Authors: Thomas Cohn, Russ Tedrake

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Landing page: https://arxiv.org/abs/2503.00614

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PDF URL: https://arxiv.org/pdf/2503.00614

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Open access: Yes

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OA status: green

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OA URL: https://arxiv.org/pdf/2503.00614

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Cited by: 0

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