Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges
Brian Hou,Sanjiban Choudhury,Gilwoo Lee,Aditya Mandalika,Siddhartha S. Srinivasa,Brian Hou,Sanjiban Choudhury,Gilwoo Lee,Aditya Mandalika,Siddhartha S. Srinivasa
Collision checking is a computational bottleneck in motion planning, requiring lazy algorithms that explicitly reason about when to perform this computation. Optimism in the face of collision uncertainty minimizes the number of checks before finding the shortest path. However, this may take a prohibitively long time to compute, with no other feasible paths discovered during this period. For many r...
