# Hierarchical Planning with Annotated Skeleton Guidance

arXiv: https://arxiv.org/abs/2206.11977 · HTML: https://mlsanity.com/paper/2206.11977/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Jun 2022.

## Built on by (most cited first, 1 of 1)

- [Scalable Multi-robot Motion Planning for Congested Environments With Topological Guidance](https://mlsanity.com/paper/2210.07141/) (2022)

## Abstract (arXiv)

We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find the desired solutions fast. However, sometimes the skeleton does not closely represent the free c-space, which often misleads current skeleton-guided planners. The hierarchical skeleton-guided planning strategy gradually relaxes its reliance on the workspace skeleton as C space is sampled, thereby incrementally returning a sub-optimal path, a feature that is not guaranteed in the standard skeleton-guided algorithm. Experimental comparisons to the standard skeleton-guided planners and other lazy planning strategies show significant improvement in roadmap construction run time while maintaining path quality for multi-query problems in cluttered environments.