Quotient-Space Motion Planning

@inproceedings{Orthey2018QuotientSpaceMP,
  title={Quotient-Space Motion Planning},
  author={Andreas Orthey and Adrien Escande and Eiichi Yoshida},
  year={2018}
}
A motion planning algorithm computes the motion of a robot by computing a path through its configuration space. To improve the runtime of motion planning algorithms, we propose to nest robots in each other, creating a nested quotientspace decomposition of the configuration space. Based on this decomposition we define a new roadmap-based motion planning… CONTINUE READING