Publications with Cindy (Hsin-Yi) Yeh
UOBPRM: a uniform distributed obstacle-based PRM.
H.-Y. Yeh, S. Thomas, D. Eppstein, and N. Amato.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal, 2012, pp. 2655–2662.We use a method based on intersecting obstacles with line segments in order to uniformly sample from obstacle surfaces in the probabilistic roadmap method for robot motion planning.