T-PRM: Temporal Probabilistic Roadmap for Path Planning in Dynamic Environments
Matthias Hüppi,Luca Bartolomei,Ruben Mascaro,Margarita Chli,Matthias Hüppi,Luca Bartolomei,Ruben Mascaro,Margarita Chli
Sampling-based motion planners are widely used in robotics due to their simplicity, flexibility and computational efficiency. However, in their most basic form, these algorithms operate under the assumption of static scenes and lack the ability to avoid collisions with dynamic (i.e. moving) obstacles. This raises safety concerns, limiting the range of possible applications of mobile robots in the ...
