Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning
Kalyan Vasudev Alwala,Mustafa Mukadam,Kalyan Vasudev Alwala,Mustafa Mukadam
Among the most prevalent motion planning techniques, sampling and trajectory optimization have emerged successful due to their ability to handle tight constraints and high-dimensional systems, respectively. However, limitations in sampling in higher dimensions and local minima issues in optimization have hindered their ability to excel beyond static scenes in offline settings. Here we consider hig...
