POSH extends the graph-based GPMP-GRAPH planner to online settings by pruning unreachable states and reoptimizing at every step, enabling dynamic switching between homotopy classes that improves success in simulated dynamic environments.
CHOMP: Covariant Hamiltonian optimization for motion planning,
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Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference
POSH extends the graph-based GPMP-GRAPH planner to online settings by pruning unreachable states and reoptimizing at every step, enabling dynamic switching between homotopy classes that improves success in simulated dynamic environments.