Mitchell Edris Crisante Sabbadini

Revisiting Replanning from Scratch: Real-Time Incremental Planning with Fast Almost-Surely Asymptotically Optimal Planners

Robots operating in changing environments either predict obstacle changes and/or plan quickly enough to react to them. Predictive approaches require a strong prior about the position and motion of obstacles. Reactive approaches require no assumptions about their environment but must replan quickly a…