Lazy collision checking in asymptotically-optimal motion planning

@article{Hauser2015LazyCC,
  title={Lazy collision checking in asymptotically-optimal motion planning},
  author={Kris Hauser},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={2951-2957}
}
Asymptotically-optimal sampling-based motion planners, like RRT*, perform vast amounts of collision checking, and are hence rather slow to converge in complex problems where collision checking is relatively expensive. This paper presents two novel motion planners, Lazy-PRM* and Lazy-RRG*, that eliminate the majority of collision checks using a lazy strategy. They are sampling-based, any-time, and asymptotically complete algorithms that grow a network of feasible vertices connected by edges… CONTINUE READING
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