Relevant Region Exploration On General Cost-maps For Sampling-Based Motion Planning
Sagar Suhas Joshi,Panagiotis Tsiotras,Sagar Suhas Joshi,Panagiotis Tsiotras
Asymptotically optimal sampling-based planners require an intelligent exploration strategy to accelerate convergence. After an initial solution is found, a necessary condition for improvement is to generate new samples in the so-called "Informed Set". However, Informed Sampling can be ineffective in focusing search if the chosen heuristic fails to provide a good estimate of the solution cost. This...
