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Narrow passages in the configuration space pose challenge for sampling-based planners. In this paper, the conventional wisdom of ”divide and conquer” is adopted to design a hierarchical strategy to address this challenging problem. Rapidly-exploring random tree (RRT) is taken as an example to illustrate the proposed strategy. A hybrid map which consists of a topological map and a set of metric maps...
In this paper, we present a hierarchical path planner for autonomous navigation of a tracked robot in buildings that have multiple storeys. The planner utilizes a multiple layered topological map that integrates both topological and metrical information to represent the multi-storey environment, which allows the robot to navigate between different storeys of the building efficiently while avoiding...
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