Numerical Subdivision Methods in Motion Planning
Yi‐Jen Chiang, Chee Keng Yap · 2011
Abstract — We propose to design new algorithms for motion planning problems based on the Domain Subdivision paradigm, but coupled with numerical primitives. Although weaker than exact algebraic primitives, our primitives are safe and are exact in the limit. Our algorithms are practical, easy to implement, theoretically sound, and have adaptive complexity. A simple but useful example of our approach is presented here. In contrast to the popular PRM, our algorithms are resolution complete. I.