Andreas Orthey

Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications

2019 · arXiv (Cornell University)

Motion planning problems can be simplified by admissible projections of the configuration space to sequences of lower-dimensional quotient-spaces, called sequential simplifications. To exploit sequential simplifications, we present the Quotient-space Rapidly-exploring Random Trees (QRRT) algorithm. QRRT …