Brian Paden

2 accepted papers

2017

Landmark guided probabilistic roadmap queries

Brian Paden, Yannik Nager, Emilio Frazzoli

IROS 2017poster

A landmark based heuristic is investigated for reducing query phase run-time of the probabilistic roadmap (PRM) motion planning method. The heuristic is generated by storing minimum spanning trees from a small number of vertices within the PRM graph and using these trees to approximate the cost of a…

Cited by 5 Source ↗code ↗Scholar ↗

2017

Verification and Synthesis of Admissible Heuristics for Kinodynamic Motion Planning

Brian Paden, Valerio Varricchio, Emilio Frazzoli

RA-L 2017

How does one obtain an admissible heuristic for a kinodynamic motion planning problem? This letter develops the analytical tools and techniques to answer this question. A sufficient condition for the admissibility of a heuristic is presented, which can be checked directly from problem data. This con

Cited by 15 Source ↗Scholar ↗