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On the completeness of ensembles of motion planners for decentralized planning
2013
2013 IEEE International Conference on Robotics and Automation
We provide a set of sufficient conditions to establish the completeness of an ensemble of motion plannersthat is, a set of loosely-coupled motion planners that produce a unified result. The planners are assumed to divide the total planning problem across some parameter space(s), such as task space, state space, action space, or time. Robotic applications have employed ensembles of planners for decades, although the concept has not been formally unified or analyzed until now. We focus on
doi:10.1109/icra.2013.6631157
dblp:conf/icra/KnepperR13
fatcat:ph2dx5gkmfbsbh5xnf66hulb2e