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cs.RO2019
Learned Critical Probabilistic Roadmaps for Robotic Motion Planning
Brian Ichter, Edward Schmerling, Tsang-Wei Edward Lee +1
Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samp…
cs.RO2019
Neural Collision Clearance Estimator for Batched Motion Planning
J. Chase Kew, Brian Ichter, Maryam Bandari +2
We present a neural network collision checking heuristic, ClearanceNet, and a planning algorithm, CN-RRT. ClearanceNet learns to predict separation distance (minimum distance betwe…