Diffusion-Based Path Planning
After the topology preserving map of a given input manifold M has been established, we want to generate a path from any initial position to a given target, e.g., to guide an end effector of a robot manipulator in the presence of obstacles within the workspace. We propose to use for this purpose a diffusion-based path finding algorithm on the discrete network lattice in which the target neuron is the source of a diffusing substance. The goal is to find a linked chain on the graph leading from the current position to the target position. Details of our diffusion-based path planning algorithm can be found in the related publications.
Related Publications
A detailed account of this work can be found in the following publications:
