Stein Variational Probabilistic Roadmaps

  title={Stein Variational Probabilistic Roadmaps},
  author={Alexander Lambert and Brian Hou and Rosario Scalise and Siddhartha S. Srinivasa and Byron Boots},
  journal={2022 International Conference on Robotics and Automation (ICRA)},
Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many sampling-based motion planners resort to coarse, heuristically-driven strategies which often fail to generalize to new and varied surroundings. Further, many of these approaches are not designed to contend with partial-observability. We posit that such uncertainty in… 
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