Sampling-based roadmap planners

As stated already, it is generally difficult to construct sampling-based roadmaps unless the BVP can be efficiently solved. The steering methods of Section 15.5 can serve this purpose [934,859]. In principle, any of the single-query methods of Section 14.4 could be used; however, it may be too costly to use them numerous times, which is required in the roadmap construction algorithm.

Steven M LaValle 2012-04-20