PINSAT: Parallelized Interleaving of Graph Search and Trajectory Optimization for Kinodynamic Motion Planning.
Ramkumar NatarajanShohin MukherjeeHowie ChosetMaxim LikhachevPublished in: CoRR (2024)
Keyphrases
- motion planning
- trajectory planning
- graph search
- collision free
- degrees of freedom
- configuration space
- mobile robot
- path planning
- humanoid robot
- duplicate detection
- multi robot
- search algorithm
- heuristic search
- graph databases
- depth first search
- search problems
- dynamic environments
- search methods
- optimization problems
- climbing robot
- memory efficient
- combinatorial optimization
- pose estimation