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Abstract Augmented Lazy Theta*: Applying Graph Abstractions to Trajectory Planning with Speed Limit Constraints

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Figure

Figure 1: An example graph abstraction hierarchy on a grid-structured map. Nodes are shown as continuous regions of groundcells with the same shade
Figure 2:A presentation of the different stages in thetop map (the abstract states which form the plan are dis-played in darker colours and are roughly the states aroundthe outside edge of the map)
Figure 3: The benchmark maps used for the evaluation. All are available from the MovingAI labs website.
Table 1: Summary of the experiments. Computed data about the distributions of both runtime and quality are shown at the topof the table, the results of the statistical tests are shown underneath
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