RANDOMIZED MOTION PLANNING: A TUTORIAL
Stefano Carpin · International Journal of Robotics and Automation · 2006
Sampling demonstrated to be the algorithmic key to efficiently solve many high dimensional motion planning problems.Information on the configuration space is acquired by generating samples and edges between them, which are stored in a suitable data structure.Following this paradigm, many different algorithmic techniques have been proposed, and some of them are now widely accepted as part of the standard literature in the field.The paper reviews some of the most influential proposals and ideas, providing indications on their practical and theoretical implications.