Sample Complexity of Probabilistic Roadmaps via ε-nets
Matthew Tsao,Kiril Solovey,Marco Pavone,Matthew Tsao,Kiril Solovey,Marco Pavone
We study fundamental theoretical aspects of probabilistic roadmaps (PRM) in the finite time (non-asymptotic) regime. In particular, we investigate how completeness and optimality guarantees of the approach are influenced by the underlying deterministic sampling distribution X and connection radius r > 0. We develop the notion of (δ, ε)-completeness of the parameters X, r, which indicates that for ...
