Planning conditional shortest paths through an unknown environment: a framed-quadtree approach

@inproceedings{Chen1995PlanningCS,
  title={Planning conditional shortest paths through an unknown environment: a framed-quadtree approach},
  author={Danny Ziyi Chen and Robert J. Szczerba and John J. Uhran},
  booktitle={IROS},
  year={1995}
}
A conditional shortest path is a collision-free path of shortest distance based on known information on an obstacle-scattered environment at a given time. This paper investigates the problem of finding a conditional L2 shortest path through an unknown environment in which path planning is implemented uon the f l y ” as new obstacle information becomes available through external sensors. We propose a novel cell decomposition approach which calculates an Lz distance transform through the use of a… CONTINUE READING
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Using fraimed-quadtrees to find conditional shortest paths in an unknown 2-d environment

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