{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/landmark-guided-probabilistic-roadmap-queries","title":"Landmark Guided Probabilistic Roadmap Queries","arxiv_id":"1704.01886","date":"2017-04-06","proceeding":null,"authors":["Brian Paden","Yannik Nager","Emilio Frazzoli"],"abstract":"A landmark based heuristic is investigated for reducing query phase run-time\nof the probabilistic roadmap (\\PRM) motion planning method. The heuristic is\ngenerated by storing minimum spanning trees from a small number of vertices\nwithin the \\PRM graph and using these trees to approximate the cost of a\nshortest path between any two vertices of the graph. The intermediate step of\npreprocessing the graph increases the time and memory requirements of the\nclassical motion planning technique in exchange for speeding up individual\nqueries making the method advantageous in multi-query applications. This paper\ninvestigates these trade-offs on \\PRM graphs constructed in randomized\nenvironments as well as a practical manipulator simulation.We conclude that the\nmethod is preferable to Dijkstra's algorithm or the ${\\rm A}^*$ algorithm with\nconventional heuristics in multi-query applications.","url_abs":"http://arxiv.org/abs/1704.01886v1","url_pdf":"http://arxiv.org/pdf/1704.01886v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"landmark-guided-probabilistic-roadmap-queries","repo_url":"https://github.com/bapaden/Landmark_Guided_PRM","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"motion-planning","task_name":"Motion Planning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}