Randomized statistical path planning

@article{Diankov2007RandomizedSP,
  title={Randomized statistical path planning},
  author={Rosen Diankov and James J. Kuffner},
  journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2007},
  pages={1-6}
}
This paper explores the use of statical learning methods on randomized path planning algorithms. A continuous, randomized version of A* is presented along with an empirical analysis showing planning time convergence rates in the robotic manipulation domain. The algorithm relies on several heuristics that capture a manipulator's kinematic feasibility and the local environment. A statistical framework is used to learn one of these heuristics from a large amount of training data saving the need to… CONTINUE READING
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