Computational Tradeoff in Minimum Obstacle Displacement Planning for Robot Navigation

Antony Thomas, Giulio Ferro, Fulvio Mastrogiovanni, Michela Robba
2/14/2023
cs.ROcs.AI

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Abstract

In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to collision with obstacles. However this problem is computationally expensive and grows exponentially in the size of number of movable obstacles. This work looks into approximate solutions that are computationally less intensive and differ from the optimal solution by a factor of the optimal cost.

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Cite this paper

@article{thomas2023computational,
  title  = {Computational Tradeoff in Minimum Obstacle Displacement Planning for Robot Navigation},
  author = {Antony Thomas and Giulio Ferro and Fulvio Mastrogiovanni and Michela Robba},
  year   = {2023},
  eprint = {2302.07114},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2302.07114v1}
}

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