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About this paper
Aditya Mandalika, Sanjiban Choudhury, Oren Salzman, Siddhartha Srinivasa
Generalized Lazy Search (GLS) plans robot motion by alternating tentative tree extension with collision checks on its current shortest subpath. An Event decides when to pause, and a Selector chooses which unchecked edge to evaluate. In simulated HERB Task 1, GLS averaged 1.17 seconds, versus 1.53 for LazySP and 1.81 for LRA*, over 100 problems, not a physical-robot result.
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