Dynamic Gap
Gap-based planners are a form of local planner which opts to act on the "gaps" of free space within the local environment as opposed to taking an obstacle space-based approach.
These planners have been able to provide safety guarantees and abide by kinematic and geometric constrants of the host robot, but few efforts have been done to extend this class of planners to dynamic environments using perception-informed tactics.
With this work, we take our prior perception-informed gap-based planning approach and apply it to dynamic environments.
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