SPITE: Simple Polyhedral Intersection Techniques for modified Environments
<|reference_start|>SPITE: Simple Polyhedral Intersection Techniques for modified Environments: Motion planning in modified environments is a challenging task, as it   compounds the innate difficulty of the motion planning problem with a changing   environment. This renders some algorithmic methods such as probabilistic   roadmaps less viable, as nodes and edges may become invalid as a result of these   changes.   In this paper, we present a method of transforming any configuration   space graph, such as a roadmap, to a dynamic data structure capable of updating   the validity of its nodes and edges in response to discrete changes in obstacle positions.   We use methods from computational geometry to compute 3D swept volume   approximations of configuration space points and curves to achieve 10-40   percent faster updates and up to 60 percent faster motion planning queries than previous algorithms while requiring a   significantly shorter pre-processing phase, requiring minutes instead of   hours needed by the competing method to achieve somewhat similar update times.<|reference_end|>
@article{ashur2024spite:,
    title={SPITE: Simple Polyhedral Intersection Techniques for modified
  Environments},
    author={Stav Ashur, Maria Lusardi, Marta Markowicz, James Motes, Marco
  Morales, Sariel Har-Peled, and Nancy M. Amato},
    journal={arXiv preprint arXiv:2407.00259},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.00259},
    primaryClass={cs.RO}
}