Abstract

J. Han, T. Uras and S. Koenig. Toward a String-Pulling Approach to Path Smoothing on Grid Graphs. In Proceedings of the Symposium on Combinatorial Search (SoCS), pages (in print), 2020.

Abstract: Paths found on grid graphs are often unrealistic looking in the continuous environment that the grid graph represents and often need to be smoothed after a search. The well-known algorithm for path smoothing is greedy in nature and does not necessarily eliminate all heading changes in freespace. We present preliminary research toward a new path-smoothing algorithm based on 'string pulling' and show experimentally that it consistently finds shorter paths than the greedy path-smoothing algorithm and produces paths with no heading changes in freespace.

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