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Dave Lattanzi’s Laplace Planner

Dave Lattanzi’s Laplace Planner. Laplace Solution. Store node charges as a dictionary Originally used state variables and nodeList Find Laplace solution and store in new dictionary Not a continuously updated field. Path Finding. Search for neighbor with minimum charge difference

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Dave Lattanzi’s Laplace Planner

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  1. Dave Lattanzi’s Laplace Planner

  2. Laplace Solution • Store node charges as a dictionary • Originally used state variables and nodeList • Find Laplace solution and store in new dictionary • Not a continuously updated field

  3. Path Finding • Search for neighbor with minimum charge difference • Store as a dictionary of previous nodes

  4. Results • Numerical issues • What’s a good initial charge value? • What’s a good tolerance • Gets stuck at local minima (shouldn’t happen) • Can find path if initialized properly

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