A PPO-trained transformer policy sparsifies dynamic graphs during RRT frontier exploration, cutting size by up to 96% and yielding the most consistent exploration rates across environments.
Graph search-based exploration method using a frontier- graph structure for mobile robots.Sensors, 20(21)
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Learning-Based Sparsification of Dynamic Graphs in Robotic Exploration Algorithms
A PPO-trained transformer policy sparsifies dynamic graphs during RRT frontier exploration, cutting size by up to 96% and yielding the most consistent exploration rates across environments.