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Adapting the sampling distribution in PRM planners based on an approximated medial axis
2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Probabilistic roadmap planners have proven to be effective in solving complex path planning problems. These planners sample the configuration space to compute a representation of its free space connectivity. One of the major difficulties for this approach is the planning of a path through narrow configuration space passages, since samples are placed inside narrow passages only with small probability. To address this problem, approaches have been devised that rely on the medial axis of the
doi:10.1109/robot.2004.1302411
dblp:conf/icra/YangB04
fatcat:jzi5lgmrxrfszmm7sftm2robqa