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About this paper
Hanyang Hu, Cameron Siu, Mo Chen
The authors present a reachability-guided graph-search planner for indoor planar robot navigation, using offline Hamilton–Jacobi calculations to prioritize states with a time-to-reach estimate and prune states predicted unsafe by backward reachable tubes. In Dense Room trials, it completed 6/6 trips, while the same heuristic with ordinary obstacle pruning completed 0/6. These six trials do not establish general success.
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