{"paper":{"title":"Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alan Kuntz, Chris Bowen, Ron Alterovitz","submitted_at":"2016-07-21T16:05:49Z","abstract_excerpt":"Computing globally optimal motion plans for a robot is challenging in part because it requires analyzing a robot's configuration space simultaneously from both a macroscopic viewpoint (i.e., considering paths in multiple homotopic classes) and a microscopic viewpoint (i.e., locally optimizing path quality). We introduce Interleaved Optimization with Sampling-based Motion Planning (IOS-MP), a new method that effectively combines global exploration and local optimization to quickly compute high quality motion plans. Our approach combines two paradigms: (1) asymptotically-optimal sampling-based m"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.06374","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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"}