Roadmap Subsampling for Changing Environments
Sean Murray,George D. Konidaris,Daniel J. Sorin,Sean Murray,George D. Konidaris,Daniel J. Sorin
Precomputed roadmaps can enable effective multi-query motion planning: a roadmap can be built for a robot as if no obstacles were present, and then after edges invalidated by obstacles observed at query time are deleted, path search through the remaining roadmap returns a collision-free plan. However, large roadmaps are memory intensive to store, and can be too slow for practical use. We present a...
