Multiresolution Motion Planning for Autonomous Agents via Wavelet-Based Cell Decompositions

@article{Cowlagi2012MultiresolutionMP,
  title={Multiresolution Motion Planning for Autonomous Agents via Wavelet-Based Cell Decompositions},
  author={Raghvendra V. Cowlagi and Panagiotis Tsiotras},
  journal={IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)},
  year={2012},
  volume={42},
  pages={1455-1469}
}
We present a path- and motion-planning scheme that is “multiresolution” both in the sense of representing the environment with high accuracy only locally and in the sense of addressing the vehicle kinematic and dynamic constraints only locally. The proposed scheme uses rectangular multiresolution cell decompositions, efficiently generated using the wavelet transform. The wavelet transform is widely used in signal and image processing, with emerging applications in autonomous sensing and… CONTINUE READING