Sparse roadmap spanners for asymptotically near-optimal motion planning

@article{Dobson2014SparseRS,
  title={Sparse roadmap spanners for asymptotically near-optimal motion planning},
  author={A. Dobson and Kostas E. Bekris},
  journal={The International Journal of Robotics Research},
  year={2014},
  volume={33},
  pages={18 - 47}
}
  • A. Dobson, Kostas E. Bekris
  • Published 2014
  • Computer Science, Mathematics
  • The International Journal of Robotics Research
  • 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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