Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies

16 Apr 2018 Lucas Janson Tommy Hu Marco Pavone

This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight perception. Despite its ubiquitous nature, this formulation of motion planning has received relatively little theoretical investigation, as opposed to the setup where the environment is assumed known... (read more)

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