Sampling-Based Motion Planning: A Comparative Review

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dc.citation.firstpage285en_US
dc.citation.journalTitleAnnual Review of Control, Robotics, and Autonomous Systemsen_US
dc.citation.lastpage310en_US
dc.citation.volumeNumber7en_US
dc.contributor.authorOrthey, Andreasen_US
dc.contributor.authorChamzas, Constantinosen_US
dc.contributor.authorKavraki, Lydia E.en_US
dc.date.accessioned2024-10-08T13:28:37Zen_US
dc.date.available2024-10-08T13:28:37Zen_US
dc.date.issued2024en_US
dc.description.abstractSampling-based motion planning is one of the fundamental paradigms to generate robot motions, and a cornerstone of robotics research. This comparative review provides an up-to-date guide and reference manual for the use of sampling-based motion planning algorithms. It includes a history of motion planning, an overview of the most successful planners, and a discussion of their properties. It also shows how planners can handle special cases and how extensions of motion planning can be accommodated. To put sampling-based motion planning into a larger context, a discussion of alternative motion generation frameworks highlights their respective differences from sampling-based motion planning. Finally, a set of sampling-based motion planners are compared on 24 challenging planning problems in order to provide insights into which planners perform well in which situations and where future research would be required. This comparative review thereby provides not only a useful reference manual for researchers in the field but also a guide for practitioners to make informed algorithmic decisions.en_US
dc.identifier.citationOrthey, A., Chamzas, C., & Kavraki, L. E. (2024). Sampling-Based Motion Planning: A Comparative Review. Annual Review of Control, Robotics, and Autonomous Systems, 7(Volume 7, 2024), 285–310. https://doi.org/10.1146/annurev-control-061623-094742en_US
dc.identifier.digitalannurev-control-061623-094742en_US
dc.identifier.doihttps://doi.org/10.1146/annurev-control-061623-094742en_US
dc.identifier.urihttps://hdl.handle.net/1911/117936en_US
dc.language.isoengen_US
dc.publisherAnnual Reviewsen_US
dc.rightsExcept where otherwise noted, this work is licensed under a Creative Commons Attribution (CC BY) license. Permission to reuse, publish, or reproduce the work beyond the terms of the license or beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/en_US
dc.titleSampling-Based Motion Planning: A Comparative Reviewen_US
dc.typeJournal articleen_US
dc.type.dcmiTexten_US
dc.type.publicationpublisher versionen_US
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