Discrete Guides for Motion Planning

In the first paper, we consider discrete leads that guide the search for a kinodynamic motion plan for a tractor-trailer type system. The leads are adapted online to improve scalability. Please see “Adaptive Sampling Based Motion Planning for Mobile Robots with Differential Constraints.”

In the second paper, we consider multi-modal planning. A mode graph is used to search for transitions from an initial state to a goal state. We update the weights of this graph online based on motion planning attempts. Please see “Informing Multi-Modal Planning with Synergistic Discrete Leads.”