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- W2130403814 abstract "We present a sampling-based path planning and replanning algorithm that produces anytime solutions. Our algorithm tunes the quality of its result based on available search time by generating a series of solutions, each guaranteed to be better than the previous ones by a user-defined improvement bound. When updated information regarding the underlying search space is received, the algorithm efficiently repairs its previous solution. The result is an approach that provides low-cost solutions to high-dimensional search problems involving partially-known or dynamic environments. We discuss theoretical properties of the algorithm, provide experimental results on a simulated multirobot planning scenario, and present an implementation on a team of outdoor mobile robots" @default.
- W2130403814 created "2016-06-24" @default.
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- W2130403814 date "2007-04-01" @default.
- W2130403814 modified "2023-09-30" @default.
- W2130403814 title "Anytime, Dynamic Planning in High-dimensional Search Spaces" @default.
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- W2130403814 doi "https://doi.org/10.1109/robot.2007.363166" @default.
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