{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/139106"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/139106","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"A Hierarchical Algorithm for Probabilistically Complete Path Planning in Multi-Floor Environments","abstract":"Navigation in multi-floor, multi-building environments is increasingly important in robotics. For wheeled robots, these environments can be conveniently modeled as a set of 2D maps, representing floors, connected by “wormholes”, which represent elevators and other between-floor connections. The full topological structure of the space can thus be described as a weighted graph. However, existing planning algorithms for multi-floor environments modeled in this way do not extend the guarantees on completeness and optimality provided by the underlying motion planning algorithms used within the 2D maps. This work proposes a new algorithm, HRG*, for probabilistically complete and asymptotically optimal multi-floor path planning that carries these guarantees, together with a reference implementation whose performance is characterized in comparison to the native version.","abstract_html":"Navigation in multi-floor, multi-building environments is increasingly important in robotics. For wheeled robots, these environments can be conveniently modeled as a set of 2D maps, representing floors, connected by “wormholes”, which represent elevators and other between-floor connections. The full topological structure of the space can thus be described as a weighted graph. However, existing planning algorithms for multi-floor environments modeled in this way do not extend the guarantees on completeness and optimality provided by the underlying motion planning algorithms used within the 2D maps. This work proposes a new algorithm, HRG*, for probabilistically complete and asymptotically optimal multi-floor path planning that carries these guarantees, together with a reference implementation whose performance is characterized in comparison to the native version.","abstract_has_math":false,"creators":["Curtis, Shiloh"],"institution":"Massachusetts Institute of Technology","degree_name":"Master","degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. 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For wheeled robots, these environments can be conveniently modeled as a set of 2D maps, representing floors, connected by “wormholes”, which represent elevators and other between-floor connections. The full topological structure of the space can thus be described as a weighted graph. However, existing planning algorithms for multi-floor environments modeled in this way do not extend the guarantees on completeness and optimality provided by the underlying motion planning algorithms used within the 2D maps. This work proposes a new algorithm, HRG*, for probabilistically complete and asymptotically optimal multi-floor path planning that carries these guarantees, together with a reference implementation whose performance is characterized in comparison to the native version."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["M.Eng."]},{"key":"dc:title","label":"Title","values":["A Hierarchical Algorithm for Probabilistically Complete Path Planning in Multi-Floor Environments"]}]}],"canonical_facts":{"dc:contributor.advisor":["Kaelbling, Leslie P."],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science"],"dc:creator":["Curtis, Shiloh"],"dc:date.accessioned":["2022-01-14T14:50:16Z"],"dc:date.available":["2022-01-14T14:50:16Z"],"dc:date.issued":["2021-06"],"dc:description.abstract":["Navigation in multi-floor, multi-building environments is increasingly important in robotics. For wheeled robots, these environments can be conveniently modeled as a set of 2D maps, representing floors, connected by “wormholes”, which represent elevators and other between-floor connections. The full topological structure of the space can thus be described as a weighted graph. However, existing planning algorithms for multi-floor environments modeled in this way do not extend the guarantees on completeness and optimality provided by the underlying motion planning algorithms used within the 2D maps. This work proposes a new algorithm, HRG*, for probabilistically complete and asymptotically optimal multi-floor path planning that carries these guarantees, together with a reference implementation whose performance is characterized in comparison to the native version."],"dc:description.degree":["M.Eng."],"dc:identifier.uri":["https://hdl.handle.net/1721.1/139106"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["In Copyright - Educational Use Permitted","Copyright MIT"],"dc:rights.uri":["http://rightsstatements.org/page/InC-EDU/1.0/"],"dc:title":["A Hierarchical Algorithm for Probabilistically Complete Path Planning in Multi-Floor Environments"],"dc:type":["Thesis"],"thesis:degree_name":["Master","Master of Engineering in Electrical Engineering and Computer Science"]},"updated_at":"2026-07-22T22:22:28Z"}