Keerthana Nallamotu

HAS-RRT: RRT-Based Motion Planning Using Topological Guidance

We present a hierarchical RRT-based motion planning strategy, Hierarchical Annotated-Skeleton Guided RRT (HAS-RRT), guided by a workspace skeleton, to solve motion planning problems. HAS-RRTprovides up to a 91% runtime reduction and builds a tree at least 30% smaller than competitors while still fin