Fibration trees unify projections and decompositions for multi-robot planning; Fibration-RRT generalizes quotient and discrete RRT, is probabilistically complete, and solves problems up to 96 DOF via user-defined trees.
In: Asfour T, Yoshida E, Park J, Christensen H and Khatib O (eds.) Robotics Research
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Fibration Trees: A Unified Approach to Multi-Robot Motion Planning
Fibration trees unify projections and decompositions for multi-robot planning; Fibration-RRT generalizes quotient and discrete RRT, is probabilistically complete, and solves problems up to 96 DOF via user-defined trees.