Satadal Ghosh

3D-Online Generalized Sensed Shape Expansion: A Probabilistically Complete Motion Planner in Obstacle-Cluttered Unknown Environments

We present an online motion planning algorithm (3D-OGSSE) for generating smooth, collision-free trajectories over multiple planning iterations for a 3-D agent operating in an unknown, obstacle-cluttered, 3-D environment. In each planning iteration, 3D-OGSSE constructs an obstacle-free region termed