Collision detection or nearest-neighbor search? On the computational bottleneck in sampling-based motion planning.
Michal KleinbortOren SalzmanDan HalperinPublished in: CoRR (2016)
Keyphrases
- motion planning
- nearest neighbor search
- collision detection
- nearest neighbor
- degrees of freedom
- mobile robot
- path planning
- virtual environment
- high dimensional
- image retrieval
- feature space
- computer graphics
- humanoid robot
- cost model
- exhaustive search
- multi robot
- search methods
- rigid body
- similarity search
- index structure
- deformable objects
- range queries
- hash functions
- bounding box
- metric space
- machine learning
- query processing
- search space
- three dimensional