The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods
<|reference_start|>The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods: In this work, we introduce LazyBoE, a multi-query method for kinodynamic motion planning with forward propagation. This algorithm allows for the simultaneous exploration of a robot's state and control spaces, thereby enabling a wider suite of dynamic tasks in real-world applications. Our contributions are three-fold: i) a method for discretizing the state and control spaces to amortize planning times across multiple queries; ii) lazy approaches to collision checking and propagation of control sequences that decrease the cost of physics-based simulation; and iii) LazyBoE, a robust kinodynamic planner that leverages these two contributions to produce dynamically-feasible trajectories. The proposed framework not only reduces planning time but also increases success rate in comparison to previous approaches.<|reference_end|>
@article{pasricha2024the,
    title={The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with
  Lazy Methods},
    author={Anuj Pasricha and Alessandro Roncone},
    journal={arXiv preprint arXiv:2403.07867},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.07867},
    primaryClass={cs.RO}
}