Incremental Path Planning Algorithm via Topological Mapping with Metric Gluing
Aakriti Upadhyay,Boris Goldfarb,Chinwe Ekenna,Aakriti Upadhyay,Boris Goldfarb,Chinwe Ekenna
We present an incremental topology-based motion planner that, while planning paths in the configuration space, performs metric gluing on the constructed Vietoris-Rips simplicial complex of each sub-space (voxel). By incrementally capturing topological and geometric information in batches of voxel graphs, our algorithm avoids the time overhead of analyzing the properties of the entire configuration...
