Dynamic Region RRT
Current Contributors: Jory Denny, Read Sandström, Nancy Amato

In many motion planning problems, valid solutions are highly correlated with the workspace geometry.

We can construct a compact model of the workspace topology using a Reeb graph. This produces a workspace skeleton that captures all of the distinct homotopy classes in the environment.

We can use the workspace skeleton in conjunction with dynamic sampling regions to guide a tree-based planner (such as RRT) through an environment.