Learning an Optimal Sampling Distribution for Efficient Motion Planning
Richard Cheng,Krishna Shankar,Joel W. Burdick,Richard Cheng,Krishna Shankar,Joel W. Burdick
Sampling-based motion planners (SBMP) are commonly used to generate motion plans by incrementally constructing a search tree through a robot's configuration space. For high degree-of-freedom systems, sampling is often done in a lower-dimensional space, with a steering function responsible for local planning in the higher-dimensional configuration space. However, for highly-redundant systems with c...
