Detecting narrow passages in configuration spaces via spectra of probabilistic roadmaps
Hassan Mohy‐ud‐Din, Abubakr Muhammad · 2010
In this paper, we explore the connection between the spectral properties of a configuration space with those of the underlying probabilistic road map. We explore this relationship in a simple motion planning example which leads to a new method of characterizing narrow passages using the so called graph Laplacian of the PRM.