Metrics for Comparing C-Space Roadmaps

  title={Metrics for Comparing C-Space Roadmaps},
  author={Marco A. Morales and Roger Pearce and Aimee Vargas},
There are many sampling-based motion planning methods that model the connectivity of a robot’s configuration space (C-space) with a graph (or roadmap) whose nodes are valid configurations and whose edges represent sequences of valid configurations for moving between nodes. Many planning strategies have been proposed to construct roadmaps. Although their authors have discussed planner strengths and have presented experimental evaluations, the emphasis is usually put on performance traits. There… CONTINUE READING


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