Collision Detection or Nearest-Neighbor Search? On the Computational Bottleneck in Sampling-based Motion Planning.
Michal KleinbortOren SalzmanDan HalperinPublished in: WAFR (2016)
Keyphrases
- motion planning
- nearest neighbor search
- collision detection
- nearest neighbor
- degrees of freedom
- path planning
- mobile robot
- high dimensional
- virtual environment
- humanoid robot
- exhaustive search
- image retrieval
- rigid body
- cost model
- multi robot
- computer graphics
- similarity search
- feature space
- search methods
- data sets
- index structure
- knn
- computer vision
- road network
- multi dimensional
- deformable objects
- machine learning