Hybrid Motion Planning Using Minkowski Sums

@inproceedings{Lien2008HybridMP,
  title={Hybrid Motion Planning Using Minkowski Sums},
  author={Jyh-Ming Lien},
  booktitle={Robotics: Science and Systems},
  year={2008}
}
Probabilistic and deterministic planners are two major approximate-based frameworks for solving motion planning problems. Both approaches have their own advantages and disadvantages. In this work, we provide an investigation to the following question: Is there a planner that can take the advantages from both probabilistic and deterministic planners? Our strategy to achieve this goal is to use the point-based Minkowski sum of the robot and the obstacles in workspace. Our experimental results… CONTINUE READING

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