BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning
Jay Kamat,Joaquim Ortiz-Haro,Marc Toussaint,Florian T. Pokorny,Andreas Orthey,Jay Kamat,Joaquim Ortiz-Haro,Marc Toussaint,Florian T. Pokorny,Andreas Orthey
Optimal sampling based motion planning and trajectory optimization are two competing frameworks to generate optimal motion plans. Both frameworks have complementary properties: Sampling based planners are typically slow to converge, but provide optimality guarantees. Trajectory optimizers, however, are typically fast to converge, but do not provide global optimality guarantees in nonconvex problem...
