2023
Concentration of Measure Phenomenon and its Implications for Sample-based Planning Algorithms in Very-High Dimensional Configuration Spaces
ICRA 2023poster
In very high-dimensional (≫10)(\gg 10) spaces, a collection of points generated uniformly at random will concentrate very tightly about its expected value - defying intuition developed in low-dimensional spaces. This paper explores the implications of this for two major classes of sample-based robot…