Motions in Microseconds via Vectorized Sampling-Based Planning

Wil Thomason,Zachary Kingston,Lydia E. Kavraki,Wil Thomason,Zachary Kingston,Lydia E. Kavraki

Modern sampling-based motion planning algorithms typically take between hundreds of milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom problems. This paper presents performance improvements of more than 500x over the state-of-the-art, bringing planning times into the range of microseconds and solution rates into the range of kilohertz, without specialized h...