Sparse roadmap spanners for asymptotically near-optimal motion planning

  title={Sparse roadmap spanners for asymptotically near-optimal motion planning},
  author={Andrew Dobson and Kostas E. Bekris},
  journal={I. J. Robotics Res.},
Asymptotically optimal planners, such as PRM∗, guarantee that solutions approach optimal as the number of iterations increases. Roadmaps with this property, however, may grow too large for storing on resource-constrained robots and for achieving efficient online query resolution. By relaxing optimality, asymptotically near-optimal planners produce sparser graphs by not including all edges. The idea stems from graph spanners, which produce sparse subgraphs that guarantee near-optimality… CONTINUE READING
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