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Sampling-based motion planners are an effective means for generating collision-free motion paths. However, the quality of these motion paths (with respect to quality measures such as path length, clearance, smoothness or energy) is often notoriously low, especially in high-dimensional configuration spaces. The authors introduce a simple algorithm for merging an arbitrary number of input motion paths into a hybrid output path of superior quality, for a broad and general formulation of path quality. Their approach is based on the observation that the quality of certain sub-paths within each solution may be higher than the quality of the entire path.
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