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About this paper
Mohsen Amiri, Sima Didari, Davoud Ataee Tarzanagh, Hankyu Moon, Yeongdae Kwon
GlobMP plans smooth robot motions as piecewise-polynomial curves and enforces obstacle clearance and robot separation throughout each time interval. It alternates smoothness-cost reduction with feasibility restoration. In a synthetic study, it found all-time-feasible paths in 100% of runs, versus 78% for RRT-Connect, 91% for RRT*, 70% for GCS, and 0% for SDP-MP. Its convergence guarantee depends on assumptions and initialization.
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