Free-configuration Biased Sampling for Motion Planning: Errata

This document contains improved and updated proofs of convergence for the sampling method presented in our paper "Free-configuration Biased Sampling for Motion Planning".

Fast Collision Checking: From Single Robots to Multi-Robot Teams

We examine three different algorithms that enable the collision certificate method from [Bialkowski, et al.] to handle the case of a centralized multi-robot team. By taking advantage of symmetries in the configuration space of multi-robot teams, our methods can significantly reduce the number of collision checks vs. both [Bialkowski, et al.] and standard collision checking implementations.