PathCover uses a randomized point-cloud partitioning routine, RISP, to generate safe corridors along a reference path in near-linear time.
Real-time motion planning with applications to autonomou s urban driving,
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PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
PathCover uses a randomized point-cloud partitioning routine, RISP, to generate safe corridors along a reference path in near-linear time.