A Topological Approach to Finding Coarsely Diverse Paths
Aakriti Upadhyay,Boris Goldfarb,Chinwe Ekenna,Aakriti Upadhyay,Boris Goldfarb,Chinwe Ekenna
We present a topological method for finding coarsely diverse pathways. The use of pre-computed paths for online planning in a dynamic context reduces the overhead of re-planning alternate routes. Our algorithm applied the notion of discrete Morse theory to identify critical points incident on the obstacles and used this information to identify and return a diverse set of coarse paths. Three sampli...
