Star-shaped Roadmaps - A Deterministic Sampling Approach for Complete Motion Planning

@inproceedings{Varadhan2005StarshapedR,
  title={Star-shaped Roadmaps - A Deterministic Sampling Approach for Complete Motion Planning},
  author={Gokul Varadhan and Dinesh Manocha},
  booktitle={Robotics: Science and Systems},
  year={2005}
}
We present a simple algorithm for complete motion planning using deterministic sampling. Our approach relies on computing a star-shaped roadmap of the free space. We partition the free space into star-shaped regions such that a single point called the guard can see every point in the starshaped region. The resulting set of guards capture the intraregion connectivity. We capture the inter-region connectivity by computing connectors that link guards of adjacent regions. We use the guards and… CONTINUE READING
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Star-shaped roadmaps - a deterministic sampling approach for complete motion planning

G. Varadhan, D. Manocha
UNC Technical Report TR05-001, • 2005
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