Automated tuning and configuration of path planning algorithms

Ruben Burger, Mukunda Bharatheesha, Marc van Eert, Robert Babuska

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

5 Citations (Scopus)

Abstract

A large number of novel path planning methods for a wide range of problems have been described in literature over the past few decades. These algorithms can often be configured using a set of parameters that greatly influence their performance. In a typical use case, these parameters are only very slightly tuned or even left untouched. Systematic approaches to tune parameters of path planning algorithms have been largely unexplored. At the same time, there is a rising interest in the planning and robotics communities regarding the real world application of these theoretically developed and simulation-tested planning algorithms. In this work, we propose the use of Sequential Model-based Algorithm Configuration (SMAC) tools to address these concerns. We show that it is possible to improve the performance of a planning algorithm for a specific problem without the need of in-depth knowledge of the algorithm itself. We compare five planners that see a lot of practical usage on three typical industrial pick-and-place tasks to demonstrate the effectiveness of the method.
Original languageEnglish
Title of host publicationProceedings 2017 IEEE International Conference on Robotics and Automation
Subtitle of host publication- ICRA
EditorsI-Ming Chen, Yoshihiko Nakamura, Haoyong Yu
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages4371-4376
ISBN (Print)978-1-5090-4633-1
DOIs
Publication statusPublished - 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017: ICRA 2017 - Singapore, Singapore
Duration: 29 May 20173 Jun 2017
http://sssa.bioroboticsinstitute.it/workshops/IC3_icra2017

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Abbreviated titleICRA 2017
CountrySingapore
CitySingapore
Period29/05/173/06/17
Internet address

Keywords

  • Planning
  • Tuning
  • Robots
  • Algorithm design and analysis
  • Software algorithms
  • Prediction algorithms
  • Software

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  • Cite this

    Burger, R., Bharatheesha, M., van Eert, M., & Babuska, R. (2017). Automated tuning and configuration of path planning algorithms. In I-M. Chen, Y. Nakamura, & H. Yu (Eds.), Proceedings 2017 IEEE International Conference on Robotics and Automation: - ICRA (pp. 4371-4376). IEEE. https://doi.org/10.1109/ICRA.2017.7989504