A motion planning algorithm using cross-entropy stochastic optimization on heteroscedastic Gaussian process trajectories reports higher success rates than GPMP2 in complex environments with comparable runtime.
Motion planning as probabilistic inference using gaussian processes and factor graphs,
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Stochastic Optimization for Trajectory Planning with Heteroscedastic Gaussian Processes
A motion planning algorithm using cross-entropy stochastic optimization on heteroscedastic Gaussian process trajectories reports higher success rates than GPMP2 in complex environments with comparable runtime.