Michal Kleinbort, Oren Salzman, Dan Halperin. Collision Detection or Nearest-Neighbor Search? On the Computational Bottleneck in Sampling-based Motion Planning. In Ken Goldberg, Pieter Abbeel, Kostas Bekris, Lauren Miller, editors, Algorithmic Foundations of Robotics XII, Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics, WAFR 2016, San Francisco, California, USA, December 18-20, 2016. Volume 13 of Springer Proceedings in Advanced Robotics, pages 624-639, Springer, 2016. [doi]
Abstract is missing.