Troy McMahon Aravind Sivaramakrishnan Edgar Granados
Motion planning is the problem of finding valid paths, expressed as sequences of configurations, or trajectories, expressed as sequences of controls, which move a robot from a given start state to a desired goal state while avoiding obstacles. Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, and effective in practice for many robotic systems. Furthermore, they have numerous desirable properties, such as probabilistic completeness and asymptotic optimality. Nevertheless, sampling-based methods still face challenges as...
Motion planning is the problem of finding valid paths, expressed as sequences of configurations, or trajectories, expressed as sequences of controls, ...
