Beamlet-like Data Processing for Accelerated Path-Planning Using Multiscale Information of the Environment
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We consider the deterministic path-planning problem dealing with the single-pair shortest path on a given graph. We propose a multiscale version of the well known A* algorithm (m-A*), which utilizes information of the environment at distinct scales. This information is collected via a bottom-up fusion method. Comparing with existing algorithms such as Dijkstra’s or A*, the use of multiscale information leads to an improvement in terms of computational complexity.