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Probabilistic roadmaps for path planning in high-dimensional configuration spaces
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Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Lydia E. Kavraki; P. Švestka; J.-C. Latombe; M.H. Overmars · IEEE Transactions on Robotics and Automation · 1996
A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored ...
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