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The International journal of robotics research, v.35 no.12, 2016년, pp.1477 - 1496
Pan, Jia (Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong) , Manocha, Dinesh (Department of Computer Science, University of North Carolina, Chapel Hill, USA)
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We present a novel approach to perform fast probabilistic collision checking in high-dimensional configuration spaces to accelerate the performance of sampling-based motion planning. Our formulation stores the results of prior collision queries, and then uses such information to predict the collisio...
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