Motion planning for robots with many degrees of freedom requires the exploration of an exponentially large configuration space. Single-query motion planners restrict exploration ...
A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementall...
This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM) planner that is: (1) singlequery –i.e., it does not pre-compute a roadmap, but uses the ...