Grid-based approches, including informed search, become computationally intractable for large state staces because space complexity increases exponentially with number of states.

Decrease the complexity using statistical sampling methods

  • RRT
  • statistically complete
  • [1] used reachability-guided sampling to further reduce computational cost

Turn RRT into a coverage problem

  • [2] used Dijkstra's algorithm to create a coverage planner
  • [3] used mutual information

To deal with continuous state space

  • [3] used a guassian process occupancy map
  • How can localization uncertainty be considered in the above?

To deal with high-level objectives

  • TBD

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