@inproceedings{f0ef818d86774b9cb302bf5e91fcf287,
title = "Efficient search and hierarchical motion planning using dynamic single-source shortest paths trees",
abstract = "In this paper we examine the search aspects of hierarchical motion planning. All previous robot motion planners based on approximated cell decomposition exhibit redundancy between successive searches for a sequence of adjacent EMPTY cells, In this paper we present a search method that eliminates this redundancy. Our search method is founded on the ability to efficiently maintain a single-source shortest paths tree embedded in the connectivity graph that is subject to the dynamic modifications that result from incremental subdivision of cells. The convergence of our algorithm is controlled by the vertex cost function, which relies on an estimate for the proportion of free space in a cell.",
author = "Michael Barbehenn and Seth Hutchinson",
year = "1993",
language = "English (US)",
isbn = "0818634529",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Publ by IEEE",
pages = "566--571",
editor = "Anon",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
note = "Proceedings of the IEEE International Conference on Robotics and Automation ; Conference date: 02-05-1993 Through 06-05-1993",
}