Reoriented Short-Cuts (RSC): An Adjustment Method for Locally Optimal Path Short-Cutting in High DoF Configuration Spaces
Alexander C. Holston,Jong-Hwan Kim,Alexander C. Holston,Jong-Hwan Kim
This paper presents Reoriented Short-Cuts (RSC): A modification of the traditional Short-Cut technique, allowing almost sure, single homotopy class, asymptotic convergence in high degree of freedom (DoF) problems. An additional Informed Gaussian Sampling (IGS) technique is also introduced for convergence comparison. Traditionally, Short-Cut methods are used as a final technique to further optimize...
