The lifting scheme: a construction of second generation wavelets
SIAM Journal on Mathematical Analysis
Multiscale Representation and Analysis of Spherical Data by Spherical Wavelets
SIAM Journal on Scientific Computing
Introduction to algorithms
Robot Motion Planning
AI Magazine
Artificial Intelligence
Planning Algorithms
Journal of Intelligent and Robotic Systems
Vision-based local multi-resolution mapping and path planning for miniature air vehicles
ACC'09 Proceedings of the 2009 conference on American Control Conference
A fast path planning by path graph optimization
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Observability-based local path planning and obstacle avoidance using bearing-only measurements
Robotics and Autonomous Systems
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We present an algorithm for solving the shortest (collision-free) path planning problem for an agent (e.g., a small UAV) with limited on-board computational resources. The agent has detailed knowledge of the environment and the obstacles only in the vicinity of its current position. Far away obstacles are only partially known and may even change dynamically. The algorithm makes use of the wavelet transform to construct an approximation of the environment at different levels of resolution. We associate with this multiresolution representation of the environment a graph, whose dimension can be made commensurate to the on-board computational resources of the agent. The adjacency list of the graph can be efficiently constructed directly from the approximation and detail wavelet coefficients, thus further speeding up the whole process. Simulations are presented to test the efficiency of the algorithm using non-trivial scenarios.