A hybrid navigation system uses offline HJ reachability computations as heuristics and safety constraints within graph search to achieve faster and safer robot movement in complex indoor environments.
The marathon 2: A navigation system,
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A Hamilton-Jacobi Reachability-Guided Search Framework for Efficient and Safe Indoor Planar Robot Navigation
A hybrid navigation system uses offline HJ reachability computations as heuristics and safety constraints within graph search to achieve faster and safer robot movement in complex indoor environments.