Evolving R2 to R2+: Optimal, Delayed Line-of-sight Vector-based Path Planning

Yan Kai Lai, Prahlad Vadakkepat, Cheng Xiang

A vector-based any-angle path planner, R2, is evolved in to R2+ in this paper. By delaying line-of-sight, R2 and R2+ search times are largely unaffected by the distance between the…