Design of Admissible Heuristics for Kinodynamic Motion Planning via Sum-of-Squares Programming
arXiv preprint arXiv:1609.06277, 2016•arxiv.org
How does one obtain an admissible heuristic for a kinodynamic motion planning problem?
This paper develops the analytical tools and techniques to answer this question. A sufficient
condition for the admissibility of a heuristic is presented which can be checked directly from
the problem data. This condition is also used to formulate a concave program to optimize an
admissible heuristic. This optimization is then approximated and solved in polynomial time
using sum-of-squares programming techniques. A number of examples are provided to …
This paper develops the analytical tools and techniques to answer this question. A sufficient
condition for the admissibility of a heuristic is presented which can be checked directly from
the problem data. This condition is also used to formulate a concave program to optimize an
admissible heuristic. This optimization is then approximated and solved in polynomial time
using sum-of-squares programming techniques. A number of examples are provided to …
How does one obtain an admissible heuristic for a kinodynamic motion planning problem? This paper develops the analytical tools and techniques to answer this question. A sufficient condition for the admissibility of a heuristic is presented which can be checked directly from the problem data. This condition is also used to formulate a concave program to optimize an admissible heuristic. This optimization is then approximated and solved in polynomial time using sum-of-squares programming techniques. A number of examples are provided to demonstrate these concepts.
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