Stein Variational Probabilistic Roadmaps
Alexander Lambert,Brian Hou,Rosario Scalise,Siddhartha S. Srinivasa,Byron Boots,Alexander Lambert,Brian Hou,Rosario Scalise,Siddhartha S. Srinivasa,Byron Boots
Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many sampling-based motion planners resort to coarse, heuristically-driven strategies which often fail to generalize to new and varied surroundings. Further, many of these app...
