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Real-Time Motion Planning in Changing Environments Using Topology-Based Encoding of Past Knowledge
2018
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Trajectory planning and replanning in complex environments often reuses very little information from the previous solutions. This is particularly evident when the motion is repeated multiple times with only a limited amount of variation between each run. To address this issue, we propose the DRMconnect algorithm, a combination of dynamic reachability maps (DRM) with lazy collision checking and a fallback strategy based on the RRT-connect algorithm which is used to repair the roadmap through
doi:10.1109/iros.2018.8593879
dblp:conf/iros/FisherRI18
fatcat:kcmcfiepibhnhdrt53n3pih4uu