Homology-Class Guided Rapidly-Exploring Random Tree For Belief Space Planning
Ran Hao,M. Cenk Çavusoğlu,Ran Hao,M. Cenk Çavusoğlu
In this work, an efficient homology guided belief space planning method for obstacle-cluttered environments is presented. The proposed planner follows a two-step approach. First, a h-signature guided rapidly-exploring random tree (HRRT) algorithm is proposed to provide nominal trajecto-ries in different homology classes by constructing homology aware sub-trees in a parallel manner. The HRRT planne...
