Planning motion in environments with similar obstacles
Jyh‐Ming Lien, Yanyan Lu · 2009
In this work, we investigate solutions to the following question: Given two motion planning problems W 1 and W 2 with the same robot and similar obstacles, can we reuse the computation from W 1 to solve W 2 more efficiently?While the answer to this question can find many practical applications, all current motion planners ignore the correspondences between similar environments.Our study shows that by carefully storing and reusing the computation we can gain significant efficiency.