Pith. sign in

REVIEW

Anytime informed path re-planning and optimization for robots in changing environments

Not yet reviewed by Pith; the record is open.

Re-run · record.json Download PDF Read on arXiv ↗

This paper has not been read by Pith yet. Machine review is queued; the pith claim, tier, and objections will appear here once it completes.

SPECIMEN: schema-true, not a live event

T0 review · schema-true

One-sentence machine reading of the paper's core claim.

pith:XXXXXXXX · record.json · timestamp

arxiv 2103.13245 v2 pith:7PTXTZKR submitted 2021-03-24 cs.RO

Cesare Tonola , Marco Faroni , Nicola Pedrocchi , Manuel Beschi This is my paper · ORCID
classification cs.RO
keywords pathalgorithmanytimeinformedmovingobstaclesre-planningrobots
verification ladder T0 review T1 audit T2 compute T3 formal
0 comments
read the original abstract

In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves the current path in an anytime fashion. The use of informed sampling enhances the search speed. Numerical results show the effectiveness of the strategy in different simulation scenarios.

Discussion (0). Continue with ORCID to comment.

Pith tools