Revisiting Replanning from Scratch: Real-Time Incremental Planning with Fast Almost-Surely Asymptotically Optimal Planners
The study tested whether incremental planning requires reusing old information or if independent planning can be more efficient. The core finding is that running fast, almost-surely asymptotically optimal (ASAO) planners independently for each change outperforms methods that reuse previous plans. This allows robots to find near-optimal global paths quickly in dynamic environments.