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- W1649062001 abstract "Many robot motion planning problems can be described as a combination of motion through relatively sparsely filled regions of configuration space and motion through tighter passages. Sample-based planners perform very effectively everywhere but in the tight passages. In this paper, we provide a method for parametrically describing workspace arrangements that are difficult for planners, and then learning a function that proposes partial paths through them as a function of the parameters. These suggested partial paths are then used to significantly speed up planning for new problems." @default.
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- W1649062001 date "2007-06-27" @default.
- W1649062001 modified "2023-09-26" @default.
- W1649062001 title "Predicting Partial Paths from Planning Problem Parameters" @default.
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- W1649062001 doi "https://doi.org/10.15607/rss.2007.iii.006" @default.
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