论文标题
使用RRT*在障碍物中，多支着多元的重新配置*
Connected Reconfiguration of Polyominoes Amid Obstacles using RRT*
论文作者
论文摘要
本文研究了使用基于抽样的方法RRT*来重新配置在可能存在多个障碍的复杂环境中重新配置一组连接的瓷砖。由于目标应用程序是自动构建离散的构建，因此使用移动机器人进行了蜂窝结构，因此有一些限制可以确定可以拾取哪些瓷砖以及在重新配置期间可以将其放下的块。我们将我们的方法与两种算法作为全球和本地计划者进行了比较，并证明我们能够在具有不同障碍物的环境中使用合理数量的样本找到更有效的构建序列。
This paper investigates the use of a sampling-based approach, the RRT*, to reconfigure a 2D set of connected tiles in complex environments, where multiple obstacles might be present. Since the target application is automated building of discrete, cellular structures using mobile robots, there are constraints that determine what tiles can be picked up and where they can be dropped off during reconfiguration. We compare our approach to two algorithms as global and local planners, and show that we are able to find more efficient build sequences using a reasonable number of samples, in environments with varying densities of obstacles.
