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Abstract

Troy McMahon, Sam Ade Jacobs, Bryan Boyd, Lydia Tapia, Nancy M. Amato, "Evaluation of the K-closest Neighbor Selection Strategy for PRM Construction," Technical Report, TR12-001, Department of Computer Science and Engineering, Texas A&M University, Jan 2012.
Technical Report(pdf, abstract)

In this paper, we evaluate the K-Closest neighbor selection strategy and compare it to other potential strategies for identifying candidate neighbors, including an all-pairs connection strategy, a random connection strategy, and a distance-based strategy that selects all nodes within a certain distance of the base node. We also study how adding small amounts of randomness to neighbor selection affects the structure of the resulting roadmap.