Reachability Analysis of Sampling Based Planners

— The last decade, sampling based planners like the Probabilistic Roadmap Method have proved to be successful in solving complex motion planning problems. We give a reachability based analysis for these planners which leads to a better understanding of the success of the approach and enhancements of the techniques suggested. This also enables us to study the effect of using new local planners.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Roland Geraerts, Mark H. Overmars
• Keywords: Complex Motion Planning, ICRA 2005, Probabilistic Roadmap Method, Reachability Based Analysis, Robotics