tejus-gupta

Semantic Segmentation

A Recurrent Neural Network-based Model for Semantic Segmentation
PyramidNet
PSPNet
Semantic Segmentation Models
Semantic Segmentation Models
FCN Large Kernel Matters -- Improve Semantic Segmentation by Global Convolutional Network
PointNet

tejus-gupta

Search and Heuristic

• A Note on Two Problems in Connexion with Graphs by Dijkstra
• A Formal Basis for the Heuristic Determination of Minimum Cost Paths by Hart
• On the complexity of admissible search algorithms by Martelli
• Heuristic Search Viewed as Path Finding in a Graph by Pohl
• R* Search by Likhachev abd Stentz
• Incremental A* by Koenig and Likhachev
• Lifelong planning A* by Koenig, Likhachev a

tejus-gupta

State lattice-based planning

tl;dr

The kinodynamics constraints of the robot are encoded in the state lattice graph and any path in this graph is feasible. After constructing the graph, any graph search algorithm can be used for planning.

Algorithm

A robot's configuration space is usually discretized to reduce computational complexity of planning at the expense of completeness. However, it is difficult to search this space while satisfying the robot's differential constraints. State lattices are a special way of discretization of robot state space that ensures (by construction) that any path in the graph complies with the robot's constraints, thereby eliminating the need to consider them explicitly during planning.