A visibility-guaranteed cell decomposition for 3D binary grids enables SOCP and MISOCP path planning, with a KSP-SOCP hybrid achieving comparable performance to MISOCP at lower memory cost in city-like workspaces.
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A cell-decomposition based path planner for 3D navigation in constrained workspaces
A visibility-guaranteed cell decomposition for 3D binary grids enables SOCP and MISOCP path planning, with a KSP-SOCP hybrid achieving comparable performance to MISOCP at lower memory cost in city-like workspaces.