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We propose a motion planning algorithm. for performing policy search in the full pose and velocity space of a mobile robot. By comparison, existing techniques optimize high-level plans, but fail to optimize the low-level motion controls. We use policy search in a high dimensional control space to find plans that lead. to measurably better motion planning. Our experimental results suggest that our approach leads to superior robot motion than many existing techniques.
Roy et al. (Wed,) studied this question.