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As the aging population grows at a rapid rate, there is an ever growing need for service robot platforms that can provide daily assistance at practical speed with reliable performance. In order to assist with daily tasks such as fetching a beverage, a service robot must be able to perceive its environment and generate corresponding motion trajectories. This becomes a challenging and computationally complex problem when the environment is unknown and thus the path planner must sample numerousarXiv:2001.00356v1 fatcat:xqn4hr4hr5h2rg3oucnv3vo5su