Highly Influenced

# Sparse roadmap spanners for asymptotically near-optimal motion planning

@article{Dobson2014SparseRS, title={Sparse roadmap spanners for asymptotically near-optimal motion planning}, author={Andrew Dobson and Kostas E. Bekris}, journal={I. J. Robotics Res.}, year={2014}, volume={33}, pages={18-47} }

- Published 2014 in I. J. Robotics Res.
DOI:10.1177/0278364913498292

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

Highly Cited

This paper has 57 citations. REVIEW CITATIONS

Recent Discussions

This paper has been referenced on Twitter 2 times over the past 90 days. VIEW TWEETS

#### From This Paper

##### Figures, tables, and topics from this paper.

42 Citations

57 References

Similar Papers

#### Citations

##### Publications citing this paper.

#### Citation Statistics

#### 57 Citations

Citations per Year

Semantic Scholar estimates that this publication has

**57**citations based on the available data.See our **FAQ** for additional information.