Generation of diverse paths in 3D environments

In this paper we propose a deterministic algorithm to produce a set of diverse paths between a given start and goal configuration in 3D environments. These diverse paths have the following properties: 1) They are bounded in length and 2) They are non-visibility-deformable into one another. Maintaining multiple path alternatives is important in practical applications such as planning in dynamic environments, in which a path may unexpectedly become infeasible due to unforeseen environmental changes. We present our approach, the distance cost considered (based on the path deformability concept previously introduced in [11]) and finally show results of simulated experiments that exemplify the effectiveness of our algorithm.