Preprint
Sep 2026
dRVG: Quadtree-Guided, Resolution-Complete Online Motion Planning for Polygonal Robots in Unknown Environments
We present the dynamic rotation-stacked visibility graph (dRVG), an online motion planner that guides polygonal robots to specified goals in initially unknown, static environ- ments. It merges local roadmaps from successive observations to plan collision-free translations and rotations without a uniform position grid....
Duo Zhang, He-Chen Zhang, Jun-Shan Huang et al.
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