A-OctoMap: An Adaptive OctoMap for Online Motion Planning
<|reference_start|>A-OctoMap: An Adaptive OctoMap for Online Motion Planning: Traditional robotic motion planning methods often struggle with fixed resolutions in dynamically changing environments. To address these challenges, we introduce the A-OctoMap, an adaptive Octo-Tree structure that enhances spatial representation and facilitates real-time, efficient motion planning. This novel framework allows for dynamic space partitioning and multi-resolution queries, significantly improving computational efficiency and precision. Key innovations include a tree-based data structure for enhanced geometric processing, real-time map updating for accurate trajectory planning, and efficient collision detection. Our extensive testing shows superior navigation safety and efficiency in complex settings compared to conventional methods. A-OctoMap sets a new standard for adaptive spatial mapping in autonomous systems, promising significant advancements in navigating unpredictable environments.<|reference_end|>
@article{mao2024a-octomap:,
    title={A-OctoMap: An Adaptive OctoMap for Online Motion Planning},
    author={Yihui Mao and Shuo Liu},
    journal={arXiv preprint arXiv:2406.13910},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.13910},
    primaryClass={cs.RO cs.GR}
}