Motion Planning has been dominated by algorithms that lie towards RRTs and related derivatives such as BiRRTs. Openrave for instance comes with RRT planners which do the job just a nuce as one needs it. PRMs(Probabilistic RoadMaps) however remain under-exploited even though they pose a great potential in motion planning owing to the probabilistic nature and the fact that classical graph algorithms can be optimized to be used in the stages of PRMs. I have now started looking at PRMs in deeper perspective with the aim of getting a better understanding of how they work and how they are implemented.
For more on PRMs, check this out.
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