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- W2950348039 abstract "We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding algorithm, discrete-RRT (dRRT), is an adaptation of the celebrated RRT algorithm for the discrete case of a graph, and it enables a rapid exploration of the high-dimensional configuration space by carefully walking through an implicit representation of a tensor product of roadmaps for the individual robots. We demonstrate our approach experimentally on scenarios of up to 60 degrees of freedom where our algorithm is faster by a factor of at least ten when compared to existing algorithms that we are aware of." @default.
- W2950348039 created "2019-06-27" @default.
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- W2950348039 date "2013-05-13" @default.
- W2950348039 modified "2023-09-26" @default.
- W2950348039 title "Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning" @default.
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- W2950348039 doi "https://doi.org/10.48550/arxiv.1305.2889" @default.
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