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- W4298642010 abstract "This paper presents a data structure that summarizes distances between configurations across a robot configuration space, using a binary space partition whose cells contain parameters used for a locally linear approximation of the distance function. Querying the data structure is extremely fast, particularly when compared to the graph search required for querying Probabilistic Roadmaps, and memory requirements are promising. The paper explores the use of the data structure constructed for a single robot to provide a heuristic for challenging multi-robot motion planning problems. Potential applications also include the use of remote computation to analyze the space of robot motions, which then might be transmitted on-demand to robots with fewer computational resources." @default.
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- W4298642010 date "2020-02-27" @default.
- W4298642010 modified "2023-09-28" @default.
- W4298642010 title "Piecewise linear regressions for approximating distance metrics" @default.
- W4298642010 doi "https://doi.org/10.48550/arxiv.2002.12466" @default.
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