Quick Heuristic Validation of Edges in Dynamic Roadmap Graphs

2026-01-28

AI Summary

This work addresses the challenge of efficiently updating roadmap-based motion planners in non-static environments. To this end, the authors propose a “red–green–gray” three-state labeling mechanism that classifies nodes and edges according to their validity through inexpensive heuristic checks, enabling rapid semi-lazy updates. The approach leverages simplified geometric computations to approximate the robot’s swept volume, performs lazy collision checking, and integrates an enhanced SPITE strategy to improve the accuracy of edge validity assessment. Experimental results demonstrate that, while achieving update times comparable to the classical method by Leven and Hutchinson, the proposed technique significantly improves the precision of identifying invalid edges.

Technology Category

• Planning, Routing, and Scheduling: Replanning and Plan Repair
• Intelligent Robots: Motion and Path Planning
• Search and Optimization: Heuristic Search

Application Category

• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Search and Retrieval-Augmented AI: Web evaluation methodologies and metrics

Abstract

In this paper we tackle the problem of adjusting roadmap graphs for robot motion planning to non-static environments. We introduce the"Red-Green-Gray"paradigm, a modification of the SPITE method, capable of classifying the validity status of nodes and edges using cheap heuristic checks, allowing fast semi-lazy roadmap updates. Given a roadmap, we use simple computational geometry methods to approximate the swept volumes of robots and perform lazy collision checks, and label a subset of the edges as invalid (red), valid (green), or unknown (gray). We present preliminary experimental results comparing our method to the well-established technique of Leven and Hutchinson, and showing increased accuracy as well as the ability to correctly label edges as invalid while maintaining comparable update runtimes.

Problem

• dynamic roadmap
• robot motion planning
• edge validation
• non-static environments
• collision checking

Innovation

• Red-Green-Gray paradigm
• dynamic roadmap graphs
• heuristic validation
• swept volume approximation
• semi-lazy updates