Heuristic Guidance Techniques for the Exploration of Small Celestial Bodies

Abstract

Sampling Based Motion Planning (SBMP) techniques are widely used in robotics to plan feasible trajectories of a vehicle/robot evolving in a complex and constrained environment. Algorithms such as Rapidly Exploring Random Trees (RRT) and Sampling Based Model Predictive Optimization (SBMPO) allow for an efficient exploration of the state space, and the… (More)