E* Interpolated Graph Replanner
Roland Philippsen · 2007
Smoothness: propagate a continuous-domain wavefront through the environment, modulate its speed according to traversability ⇒ monotonically increasing crossing-time map ⇒ smooth navigation function Local Repairs: region of influence of each location ⇒ recompute only the shadow of modified nodes Related Work:Field-D* also interpolates, but E* interpolation is user-configurable and it performs full tracking of the upwind dependency structure. Open Source:C++ implementation available on Sourceforge, with test programs and examples of integration into robotic systems