Abstract— Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, mobile robots should gener...
We present methods for extracting optimal paths from motion planning roadmaps. Our system enables any combination of optimization criteria, such as collision detection, kinematic/...
We present deterministic sequences for use in sampling-based approaches to motion planning. They simultaneously combine the qualities found in many other sequences: i) the increme...
— Computationally efficient motion planning must avoid exhaustive exploration of configuration space. We argue that this can be accomplished most effectively by carefully balan...
— Randomly expanding trees are very effective in exploring high-dimensional spaces. Consequently, they are a powerful algorithmic approach to sampling-based single-query motion p...