Rapidly-exploring roadmaps: Weighing exploration vs. refinement in optimal motion planning

@article{Alterovitz2011RapidlyexploringRW,
  title={Rapidly-exploring roadmaps: Weighing exploration vs. refinement in optimal motion planning},
  author={Ron Alterovitz and Sachin Patil and Anna Derbakova},
  journal={2011 IEEE International Conference on Robotics and Automation},
  year={2011},
  pages={3706-3712}
}
Computing globally optimal motion plans requires exploring the configuration space to identify reachable free space regions as well as refining understanding of already explored regions to find better paths. We present the rapidly-exploring roadmap (RRM), a new method for single-query optimal motion planning that allows the user to explicitly consider the trade-off between exploration and refinement. RRM initially explores the configuration space like a rapidly exploring random tree (RRT). Once… CONTINUE READING
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