Linlin Zhou

Batch Informed Vines (BIV*): Heuristically Guided Exploration of Narrow Passages by Batch Vine Expansion

Commonly used asymptotically convergent sampling algorithms (SBP) often utilize the Informed Set (IS) to enhance sampling efficiency. However, IS typically requires obtaining a low-cost solution first, which is challenging when narrow passages are present in the environment. To address the narrow pa