Class-Ordered LPA*: An Incremental-Search Algorithm for Weighted Colored Graphs
Jaein Lim,Oren Salzman,Panagiotis Tsiotras,Jaein Lim,Oren Salzman,Panagiotis Tsiotras
Replanning is an essential problem for robots operating in a dynamic and complex environment for responsive and robust autonomy. Previous incremental-search algorithms efficiently reuse existing search results to facilitate a new plan when the environment changes. Yet, they rely solely on geometric information of the environment encoded in an edge-weighted graph. However, semantic information ofte...
