28 citations · 143 across the 25 of their papers we have counts for
5 papers · 1 filter
Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury +2
We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are co…
Generalizing Informed Sampling for Asymptotically Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo
Daqing Yi, Rohan Thakker, Cole Gulino +2
Asymptotically-optimal motion planners such as RRT* have been shown to incrementally approximate the shortest path between start and goal states. Once an initial solution is found,…
The Provable Virtue of Laziness in Motion Planning
Nika Haghtalab, Simon Mackenzie, Ariel D. Procaccia +2
The Lazy Shortest Path (LazySP) class consists of motion-planning algorithms that only evaluate edges along shortest paths between the source and target. These algorithms were desi…
An Efficient Algorithm for Computing High-Quality Paths amid Polygonal Obstacles
Pankaj K. Agarwal, Kyle Fox, Oren Salzman
We study a path-planning problem amid a set of obstacles in , in which we wish to compute a short path between two points while also maintaining a high…
Efficient motion planning for problems lacking optimal substructure
Oren Salzman, Brian Hou, Siddhartha Srinivasa
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized i…