Quantitative Analysis of Nearest-Neighbors Search in High-Dimensional Sampling-Based Motion Planning

@inproceedings{Plaku2006QuantitativeAO,
  title={Quantitative Analysis of Nearest-Neighbors Search in High-Dimensional Sampling-Based Motion Planning},
  author={Erion Plaku and Lydia E. Kavraki},
  booktitle={WAFR},
  year={2006}
}
We quantitatively analyze the performance of exact and approximate nearest-neighbors algorithms on increasingly high-dimensional problems in the context of sampling-based motion planning. We study the impact of the dimension, number of samples, distance metrics, and sampling schemes on the efficiency and accuracy of nearest-neighbors algorithms. Efficiency measures computation time and accuracy indicates similarity between exact and approximate nearest neighbors. Our analysis indicates that… CONTINUE READING
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