Use of relaxation methods in sampling-based algorithms for optimal motion planning

  title={Use of relaxation methods in sampling-based algorithms for optimal motion planning},
  author={Oktay Arslan and Panagiotis Tsiotras},
  journal={2013 IEEE International Conference on Robotics and Automation},
Several variants of incremental sampling-based algorithms have been recently proposed in order to optimally solve motion planning problems. Popular examples include the RRT* and the PRM* algorithms. These algorithms are asymptotically optimal and thus provide high quality solutions. However, the convergence rate to the optimal solution may still be slow. Borrowing from ideas used in the well-known LPA* algorithm, in this paper we present a new incremental sampling-based motion planning… CONTINUE READING
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