Towards General Infeasibility Proofs in Motion Planning
Sihui Li,Neil T. Dantam,Sihui Li,Neil T. Dantam
We present a general approach for constructing proofs of motion planning infeasibility. Effective high-dimensional motion planners, such as sampling-based methods, are limited to probabilistic completeness, so when no plan exists, these planners either do not terminate or can only run until a timeout. We address this completeness challenge by augmenting a sampling-based planner with a method to cr...
