Hdmove2 -

[4] L. E. Kavraki, P. Svestka, J. C. Latombe, and M. H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Transactions on Robotics and Automation , vol. 12, no. 4, pp. 566–580, 1996.

[2] N. Ratliff, M. Zucker, J. A. Bagnell, and S. Srinivasa, "CHOMP: Gradient optimization algorithms for efficient motion planning," IEEE International Conference on Robotics and Automation (ICRA) , 2009, pp. 1292–1299. hdmove2

[ \exists t: | q_actual(t) - \tau_planned(t) | > \sigma \cdot \textVar s \in [t-\delta,t] \left[ \frac\partial c obs\partial q(s) \right] ] Svestka, J

hdmove2 achieves a 94% success rate on the narrow passage benchmark (64 DoF), compared to 12% for RRT* and 68% for CHOMP. The event-driven controller reduces average planning frequency by 63%, enabling 95 Hz control updates. \sigma \cdot \textVar s \in [t-\delta