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Real-Time Stochastic Kinodynamic Motion Planning via Multiobjective Search on GPUs
[article]
2017
arXiv
pre-print
In this paper we present the PUMP (Parallel Uncertainty-aware Multiobjective Planning) algorithm for addressing the stochastic kinodynamic motion planning problem, whereby one seeks a low-cost, dynamically-feasible motion plan subject to a constraint on collision probability (CP). To ensure exhaustive evaluation of candidate motion plans (as needed to tradeoff the competing objectives of performance and safety), PUMP incrementally builds the Pareto front of the problem, accounting for the
arXiv:1607.06886v3
fatcat:aot7skrfi5frzll3yok5mr5qoq