3 papers
cs.RO2023
LEA*: An A* Variant Algorithm with Improved Edge Efficiency for Robot Motion Planning
Dongliang Zheng, Panagiotis Tsiotras
In this work, we introduce a new graph search algorithm, lazy edged based A* (LEA*), for robot motion planning. By using an edge queue and exploiting the idea of lazy search, LEA*…
cs.RO2023
Kinodynamic FMT* with Dimensionality Reduction Heuristics and Neural Network Controllers
Dongliang Zheng, Panagiotis Tsiotras
This paper proposes a new sampling-based kinodynamic motion planning algorithm, called FMT*PFF, for nonlinear systems. It exploits the novel idea of dimensionality reduction using…
cs.RO2023
IBBT: Informed Batch Belief Trees for Motion Planning Under Uncertainty
Dongliang Zheng, Panagiotis Tsiotras
In this work, we propose the Informed Batch Belief Trees (IBBT) algorithm for motion planning under motion and sensing uncertainties. The original stochastic motion planning proble…