Title:
Beyond Quadtrees: Cell Decomposition for Path Planning using the Wavelet Transform
Beyond Quadtrees: Cell Decomposition for Path Planning using the Wavelet Transform
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Author(s)
Cowlagi, Raghvendra V.
Tsiotras, Panagiotis
Tsiotras, Panagiotis
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Abstract
Path planning techniques based on hierarchical
multiresolution cell decompositions are suitable for online
implementation due to their simplicity and speed of implementation.
We present an efficient multiresolution cell decomposition
scheme based on the Haar wavelet transform.
The decomposition approximates the environment using high
resolution close to the agent and coarse resolution elsewhere.
We demonstrate an algorithm to extract the adjacency and
transition cost relations of the cells directly from the wavelet
transform coefficients.
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Date Issued
2007-12
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Paper