SPADE plans paths over 3D scene graphs by combining a high-level global route, local geometric replanning, and domain-aware edge subsampling to handle dynamic scenes.
Hierarchical graph search for mobile robot path planning,
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SPADE: Towards Scalable Path Planning Architecture on Actionable Multi-Domain 3D Scene Graphs
SPADE plans paths over 3D scene graphs by combining a high-level global route, local geometric replanning, and domain-aware edge subsampling to handle dynamic scenes.