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.
Batch informed trees (bit*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs,
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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.