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Alexander C. Holston

dblp:216/8747 · DBLP profile ↗
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1ranked-venue papers
1as first author
0since 2021 · last 2020
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-authorSystems, architecture and hardware · 1 · 1 first-author

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 100%

Topics — the 2 heaviest of 2, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control
motion planning
0.412020
Reoriented Short-Cuts (RSC): An Adjustment Method for Locally Optimal Path Short-Cutting in High DoF Configuration Spaces · ICRA 2020
Robotics › Motion planning and robot control › path planning
path smoothing
0.412020
Reoriented Short-Cuts (RSC): An Adjustment Method for Locally Optimal Path Short-Cutting in High DoF Configuration Spaces · ICRA 2020

Methods — techniques the papers use, named apart from their topics

informed gaussian sampling · 0.4collision checking · 0.4
YearPublicationVenuePosition
2020 Reoriented Short-Cuts (RSC): An Adjustment Method for Locally Optimal Path Short-Cutting in High DoF Configuration Spaces
abstract
This paper presents Reoriented Short-Cuts (RSC): A modification of the traditional Short-Cut technique, allowing almost sure, single homotopy class, asymptotic convergence in high degree of freedom (DoF) problems. An additional Informed Gaussian Sampling (IGS) technique is also introduced for convergence comparison. Traditionally, Short-Cut methods are used as a final technique to further optimize an initially found path. Typical Short-Cut methods fail as a single DoF may converge faster than the remaining, creating a zero-volume region between path segments and objects, halting further improvements. Previous attempts to solve this separate DoFs individually, drastically increasing collision checking computation. RSC and IGS control the shifting of the vertex to be Short-Cut, moving vertex positions by reorienting the line segments, removing the zero-volume convergence region. These methods are compared to similar strategies in a variety of problems including random worlds, and robot manipulation, to show the convergence across both translation and rotation oriented problems.
Alexander C. Holston, Jong-Hwan Kim 0001
ICRA1