Evaluating hierarchical planner performance through field experiments and simulation
Juan Pablo González, Marshal Childers, Barry Bodt · 2010
Most stand-alone planners have theoretical guarantees in terms of completeness, optimality and performance. However, no stand-alone planner is able to handle the complexity of real world systems accounting for kinematic and dynamic constraints while being able to operate over long ranges. This leads to hierarchical planning approaches that bring together different stand-alone planners for local and global navigation at the expense of weaker performance guarantees.