DRGBT is a real-time sampling-based planner that uses an EDF scheduler and dynamic expanded bubbles to certify collision-free splines under bounded obstacle velocity, demonstrated on a 6-DoF arm with moving objects and humans.
A PRM-based motion planner for dynamically changing environments,
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Real-Time Sampling-Based Safe Motion Planning for Robotic Manipulators in Dynamic Environments
DRGBT is a real-time sampling-based planner that uses an EDF scheduler and dynamic expanded bubbles to certify collision-free splines under bounded obstacle velocity, demonstrated on a 6-DoF arm with moving objects and humans.