Reachability Analysis of Sampling Based Planners
Roland Gerærts, M.H. Overmars · 2006
The last decade, sampling based planners like the Probabilistic Roadmap Method have proved to be successful in solving complex motion planning problems. We give a reachability based analysis for these planners which leads to a better understanding of the success of the approach and enhancements of the techniques suggested. This also enables us to study the effect of using new local planners.