نسخة أولية وصول مفتوح
ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation
Real-time motion planning remains challenging in large and high-dimensional environments. Prior acceleration of RRT* follows tree-centric state organization, which reduces per-query cost but preserves superlinear end-to-end complexity and limits parallelism through structural dependencies. This paper presents ScaleMPA, …