Efficient C-space and cost function updates in 3D for unmanned aerial vehicles

@article{Scherer2009EfficientCA,
  title={Efficient C-space and cost function updates in 3D for unmanned aerial vehicles},
  author={Sebastian Scherer and Dave Ferguson and Sanjiv Singh},
  journal={2009 IEEE International Conference on Robotics and Automation},
  year={2009},
  pages={2049-2054}
}
When operating in partially-known environments, autonomous vehicles must constantly update their maps and plans based on new sensor information. Much focus has been placed on developing efficient incremental planning algorithms that are able to efficiently replan when the map and associated cost function changes. However, much less attention has been placed on efficiently updating the cost function used by these planners, which can represent a significant portion of the time spent replanning… CONTINUE READING

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