{"paper":{"title":"Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aditya Mandalika, Brian Hou, Rosario Scalise, Sanjiban Choudhury, Siddhartha S. Srinivasa","submitted_at":"2021-04-11T15:46:56Z","abstract_excerpt":"Sampling-based motion planners rely on incremental densification to discover progressively shorter paths. After computing feasible path $\\xi$ between start $x_s$ and goal $x_t$, the Informed Set (IS) prunes the configuration space $\\mathcal{C}$ by conservatively eliminating points that cannot yield shorter paths. Densification via sampling from this Informed Set retains asymptotic optimality of sampling from the entire configuration space. For path length $c(\\xi)$ and Euclidean heuristic $h$, $IS = \\{ x | x \\in \\mathcal{C}, h(x_s, x) + h(x, x_t) \\leq c(\\xi) \\}$.\n  Relying on the heuristic can "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.05037","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2104.05037/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}