Notes on Visibility Roadmaps and Path Planning

@inproceedings{Laumond2000NotesOV,
  title={Notes on Visibility Roadmaps and Path Planning},
  author={J. Laumond},
  year={2000}
}
This paper overviews the probabilistic roadmap approaches to path planning whose surprising practical performances attract today an increasing interest. We rst comment on the connguration space topology induced by the methods used to steer a mechanical system. Topology induces the combinatorial complexity of the roadmaps tending to capture both coverage and con-nectivity of the collision-free space. The we introduce the notion of optimal coverage and we provide a proba-bilistic scheme in order… CONTINUE READING
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