Home

Bio

Publications

Research

Courses

Media

Contact

Approximate 3D Visibility Graphs



Overview


In this project, we investigate approximate 3D visibility graph methods for motion planning. This method attempts to fuse the advantages of combinatorial paths with the computational benefits of discretization.

SPARTAN-lite


By leveraging properties of geodesic, SPARTAN-lite creates a sparse graph where edges which cannot be part of an optimal solution are discarded. SPARTAN-lite has been shown to be an order of magnitude faster than SPARTAN. This method is effective for planning geometric paths for MAVs in outdoor environments.

Publications


To appear.