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Admissible heuristics for obstacle clearance optimization objectives

04/06/2021

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by Marlin P. Strub, et al.

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Obstacle clearance in state space is an important optimization objective in path planning because it can result in safe paths. This technical report presents admissible solution- and path-cost heuristics for this objective, which can be used to improve the performance of informed path planning algorithms.

Marlin P. Strub
7 publications
Jonathan D. Gammell
15 publications

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