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In this paper, we propose a path re-planning algorithm that makes robots ableto work in scenarios with moving obstacles. The algorithm switches between aset of pre-computed paths to avoid collisions with moving obstacles. It alsoimproves the current path in an anytime fashion. The use of informed samplingenhances the search speed. Numerical results show the effectiveness of thestrategy in different simulation scenarios.

Anytime informed path re-planning and optimization for robots in changing environments