PLRC*: A piecewise linear regression complex for approximating optimal robot motion
Luyang Zhao,Josiah Putman,Weifu Wang,Devin Balkcom,Luyang Zhao,Josiah Putman,Weifu Wang,Devin Balkcom
Discrete graphs are commonly used to approximately represent configuration spaces used in robot motion planning. This paper explores a representation in which the costs of crossing local regions of the configuration space are represented using piecewise linear regression (PLR). We explore a few simple motion planning problems, and show that for these problems, the memory required to store the repr...
