FAR Planner: Fast, Attemptable Route Planner using Dynamic Visibility Update
Fan Yang,Chao Cao,Hongbiao Zhu,Jean Oh,Ji Zhang,Fan Yang,Chao Cao,Hongbiao Zhu,Jean Oh,Ji Zhang
Path planning in unknown environments remains a challenging problem, as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly and constantly, to account for the new observations. In this paper, we present a visibility graph-based planning framework capable of dealing with navigation tasks in both known ...
