2020
Reoriented Short-Cuts (RSC): An Adjustment Method for Locally Optimal Path Short-Cutting in High DoF Configuration Spaces
ICRA 2020poster
This paper presents Reoriented Short-Cuts (RSC): A modification of the traditional Short-Cut technique, allowing almost sure, single homotopy class, asymptotic convergence in high degree of freedom (DoF) problems. An additional Informed Gaussian Sampling (IGS) technique is also introduced for conver…