IRIS incrementally densifies sampling-based roadmaps and applies near-optimal graph search to produce inspection plans that asymptotically converge to optimal while running orders of magnitude faster than prior methods.
Following Surgical Trajectories with Concentric Tube Robots via Nearest- Neighbor Graphs
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Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search
IRIS incrementally densifies sampling-based roadmaps and applies near-optimal graph search to produce inspection plans that asymptotically converge to optimal while running orders of magnitude faster than prior methods.