A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking

@inproceedings{SnchezAnte2001ASB,
  title={A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking},
  author={Gildardo S{\'a}nchez-Ante and Jean-Claude Latombe},
  booktitle={ISRR},
  year={2001}
}
This paper describes a new probabilistic roadmap (PRM) path planner that is: (1) single-query — instead of pre-computing a roadmap covering the entire free space, it uses the two input query configurations as seeds to explore as little space as possible; (2) bidirectional — it explores the robot’s free space by concurrently building a roadmap made of two trees rooted at the query configurations; (3) adaptive — it makes longer steps in opened areas of the free space and shorter steps in… CONTINUE READING
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