Matches in SemOpenAlex for { <https://semopenalex.org/work/W3150052415> ?p ?o ?g. }
Showing items 1 to 87 of
87
with 100 items per page.
- W3150052415 abstract "Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured environments. However, optimal design of the motion planning graph, while crucial to the performance of the planner, has not been a main focus of prior work. This paper proposes to address this by introducing a method of choosing vertices and edges in a motion primitive graph that is grounded in sampling theory and leads to theoretical guarantees on planner completeness. By minimizing dispersion of the graph vertices in the metric space induced by trajectory cost, we optimally cover the space of feasible trajectories with our motion primitive graph. In comparison with baseline motion primitives defined by uniform input space sampling, our motion primitive graphs have lower dispersion, find a plan with fewer iterations of the graph search, and have only one parameter to tune." @default.
- W3150052415 created "2021-04-13" @default.
- W3150052415 creator A5024931326 @default.
- W3150052415 creator A5071634041 @default.
- W3150052415 creator A5073424051 @default.
- W3150052415 creator A5090772145 @default.
- W3150052415 date "2021-03-26" @default.
- W3150052415 modified "2023-09-25" @default.
- W3150052415 title "Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning" @default.
- W3150052415 cites W1971998222 @default.
- W3150052415 cites W2022149436 @default.
- W3150052415 cites W2043419861 @default.
- W3150052415 cites W2069647917 @default.
- W3150052415 cites W2078765782 @default.
- W3150052415 cites W2113029345 @default.
- W3150052415 cites W2606365885 @default.
- W3150052415 cites W2611243847 @default.
- W3150052415 cites W2963497136 @default.
- W3150052415 cites W3090360675 @default.
- W3150052415 cites W3130344201 @default.
- W3150052415 hasPublicationYear "2021" @default.
- W3150052415 type Work @default.
- W3150052415 sameAs 3150052415 @default.
- W3150052415 citedByCount "1" @default.
- W3150052415 countsByYear W31500524152021 @default.
- W3150052415 crossrefType "posted-content" @default.
- W3150052415 hasAuthorship W3150052415A5024931326 @default.
- W3150052415 hasAuthorship W3150052415A5071634041 @default.
- W3150052415 hasAuthorship W3150052415A5073424051 @default.
- W3150052415 hasAuthorship W3150052415A5090772145 @default.
- W3150052415 hasConcept C104114177 @default.
- W3150052415 hasConcept C11413529 @default.
- W3150052415 hasConcept C120665830 @default.
- W3150052415 hasConcept C121332964 @default.
- W3150052415 hasConcept C126255220 @default.
- W3150052415 hasConcept C132525143 @default.
- W3150052415 hasConcept C154945302 @default.
- W3150052415 hasConcept C192209626 @default.
- W3150052415 hasConcept C31972630 @default.
- W3150052415 hasConcept C33923547 @default.
- W3150052415 hasConcept C41008148 @default.
- W3150052415 hasConcept C45374587 @default.
- W3150052415 hasConcept C80444323 @default.
- W3150052415 hasConcept C81074085 @default.
- W3150052415 hasConcept C90509273 @default.
- W3150052415 hasConceptScore W3150052415C104114177 @default.
- W3150052415 hasConceptScore W3150052415C11413529 @default.
- W3150052415 hasConceptScore W3150052415C120665830 @default.
- W3150052415 hasConceptScore W3150052415C121332964 @default.
- W3150052415 hasConceptScore W3150052415C126255220 @default.
- W3150052415 hasConceptScore W3150052415C132525143 @default.
- W3150052415 hasConceptScore W3150052415C154945302 @default.
- W3150052415 hasConceptScore W3150052415C192209626 @default.
- W3150052415 hasConceptScore W3150052415C31972630 @default.
- W3150052415 hasConceptScore W3150052415C33923547 @default.
- W3150052415 hasConceptScore W3150052415C41008148 @default.
- W3150052415 hasConceptScore W3150052415C45374587 @default.
- W3150052415 hasConceptScore W3150052415C80444323 @default.
- W3150052415 hasConceptScore W3150052415C81074085 @default.
- W3150052415 hasConceptScore W3150052415C90509273 @default.
- W3150052415 hasLocation W31500524151 @default.
- W3150052415 hasOpenAccess W3150052415 @default.
- W3150052415 hasPrimaryLocation W31500524151 @default.
- W3150052415 hasRelatedWork W158384039 @default.
- W3150052415 hasRelatedWork W172356237 @default.
- W3150052415 hasRelatedWork W2020530538 @default.
- W3150052415 hasRelatedWork W2031732000 @default.
- W3150052415 hasRelatedWork W2041518586 @default.
- W3150052415 hasRelatedWork W2059030232 @default.
- W3150052415 hasRelatedWork W2168751569 @default.
- W3150052415 hasRelatedWork W2170220350 @default.
- W3150052415 hasRelatedWork W2255109686 @default.
- W3150052415 hasRelatedWork W2470903247 @default.
- W3150052415 hasRelatedWork W2902308152 @default.
- W3150052415 hasRelatedWork W2950528016 @default.
- W3150052415 hasRelatedWork W2952810119 @default.
- W3150052415 hasRelatedWork W2969124493 @default.
- W3150052415 hasRelatedWork W2987668604 @default.
- W3150052415 hasRelatedWork W3097897109 @default.
- W3150052415 hasRelatedWork W3118715781 @default.
- W3150052415 hasRelatedWork W3184340030 @default.
- W3150052415 hasRelatedWork W3205649458 @default.
- W3150052415 hasRelatedWork W2183138881 @default.
- W3150052415 isParatext "false" @default.
- W3150052415 isRetracted "false" @default.
- W3150052415 magId "3150052415" @default.
- W3150052415 workType "article" @default.