Computer Engineering Commons^™

Near-Optimal Motion Planning Algorithms Via A Topological And Geometric Perspective, Aakriti Kumari Upadhyay

Computer Science Theses & Dissertations

Motion planning is a fundamental problem in robotics, which involves finding a path for an autonomous system, such as a robot, from a given source to a destination while avoiding collisions with obstacles. The properties of the planning space heavily influence the performance of existing motion planning algorithms, which can pose significant challenges in handling complex regions, such as narrow passages or cluttered environments, even for simple objects. The problem of motion planning becomes deterministic if the details of the space are fully known, which is often difficult to achieve in constantly changing environments. Sampling-based algorithms are widely used among …