Decomposition-based Motion Planning: A Framework for Real-time Motion Planning in High-dimensional Spaces

  title={Decomposition-based Motion Planning: A Framework for Real-time Motion Planning in High-dimensional Spaces},
  author={Oliver Brock and Lydia E. Kavraki},
1. Typically, the motion planning problem's complexity is exponential in the D.O.F. of the robot (Cspace dimension). 2. Real-life applications are normally in dynamically changing environments. 3. Need to re-plan paths on the fly, or at least make minor changes to them. 4. Vehicle dynamics!! Instantaneous changes in velocity can be bad for humans esp. in elevators. Motivation: Break up a problem into two smaller parts. The total complexity of subproblems put together is lower than the whole… CONTINUE READING
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