Patent ID: 11073828

Abstract:
A computer-implemented method of motion planning and an autonomous agent that executes that method are presented. The method includes generating a first set of indices that represent a predicate in a continuous state space, accessing a library of candidate motions, wherein each of the candidate motions has a second set of indices that represent a trajectory in the continuous state space, compressing the first set of indices and the second set of indices to generate a first set of compressed indices and a second set of compressed indices, and determining whether there is an intersection between the first set of indices and the second set of indices. The compressing may be done by partitioning the state space into regions, each region being occupied by the same set of candidate motions. Alternatively, the compressing may be done by applying run-length-encoding to binary vectors generated using a locality preserving, space filling curve such as a Hilbert curve or Z-order curve.