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How to include a space and robot geometry with OMPL

Let us assume that I am able to create a 3D map (octree) based on information gathered by a Lidar and/or a camera on a quadrotor. Now based on the current 3D representation of the world, I want to go ...
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How to make RRT to work for dynamic systems?

I want to make path planning algorithm for a quadrotor with RRT in my thesis. I have searched lots of articles and come up with the concept of "dynamic RTT" and one of the articles has a title "...
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374 views

why is quadrotor motion planning hard?

With introduction of incremental sampling algorithms, like PRM and RRT planning in higher dimensional spaces in reasonable computation time has become possible though it is PSPACE-hard. But why is a ...