Multi-scale perception and path planning on probabilistic obstacle maps

Florian Hauer; Abhijit Kundu; James M. Rehg; Panagiotis Tsiotras

ICRA 2015poster22 citations

Multi-scale perception and path planning on probabilistic obstacle maps

Florian Hauer, Abhijit Kundu, James M. Rehg, Panagiotis Tsiotras

Abstract

We present a path-planning algorithm that leverages a multi-scale representation of the environment. The algorithm works in n dimensions. The information of the environment is stored in a tree representing a recursive dyadic partitioning of the search space. The information used by the algorithm is the probability that a node of the tree corresponds to an obstacle in the search space. The complexity of the proposed algorithm is analyzed and its completeness is shown.

BibTeX

@inproceedings{icra2015_multiscalepercep,
  title = {Multi-scale perception and path planning on probabilistic obstacle maps},
  author = {Florian Hauer and Abhijit Kundu and James M. Rehg and Panagiotis Tsiotras},
  booktitle = {ICRA 2015},
  year = {2015}
}