… risk advance in motion planning for a solution with a high … the uncertainties for motion planning
in autonomous driving. … INTRODUCTION The primary setup of motion planning requires a …

… Heuristic Search (SEHS) method solves the motion planning … by a circle-guided heuristic
search in the configuration space. … trapped in local minima for global motion. RRT provides a …

… Moreover; probabilistic motion planning algorithms have successfully dealt with large … the
robot toward the goal (placed in the global minimum of U ) and a repulsive potential around …

… Unlike other learning-based methods for motion planning, … -robot motion planning instances
using a global planner. Second, we … isolates the effect of the global-to-local heuristic training. …

… But since \({\mathcal{R}}^{*}(b_{0})\) is not known a priori, we use heuristics based on
information from the sampled sub-spaces and sampled beliefs to guide subsequent sampling. …

… at low speed can be described by the time-domain kinematic equations in Equation (1)
where vr is the forward speed of the vehicle, x, y are the coordinates of the vehicle in the global …

… sub-plans are stitched together to construct a global plan for … In Section II, we formally define
the multirobot motion planning … the time split heuristic and space heuristic respectively. In …

… A global path planner usually generates a low-resolution high-level path based on a known
… and effectiveness and its ability to find a feasible motion plan relatively quickly, even in high-…

… that in motion planning problems formulated as heuristic search one can often identify
conservative edges in the relaxed space. Secondly, we propose a heuristic computation algorithm …

… In this paper we describe a heuristic technique for solving the 2D find-path problem for a
rigid mobile … All the heuristics we propose are based on the knowledge of a global path. This …