Smoothed analysis of probabilistic roadmaps
نویسندگان
چکیده
منابع مشابه
Smoothed Analysis of Probabilistic Roadmaps
The probabilistic roadmap algorithm is a leading heuristic for robot motion planning. It is extremely efficient in practice, yet its worst case convergence time is unbounded as a function of the input’s combinatorial complexity. We prove a smoothed polynomial upper bound on the number of samples required to produce an accurate probabilistic roadmap, and thus on the running time of the algorithm...
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ژورنال
عنوان ژورنال: Computational Geometry
سال: 2009
ISSN: 0925-7721
DOI: 10.1016/j.comgeo.2008.10.005