Skeleton Guided

Skeleton-guided planning is a robotics and computational biology technique that leverages a simplified representation of the environment's connectivity (the "skeleton") to accelerate pathfinding. Current research focuses on hierarchical planning algorithms, such as tree-based methods, which use the skeleton as initial guidance but incorporate fallback mechanisms for scenarios where the skeleton is insufficient. This approach improves efficiency and robustness compared to traditional methods, particularly in complex, cluttered environments, leading to faster path generation for applications like UAV navigation and robotic manipulation. The resulting improvements in computational speed and path quality have significant implications for various fields requiring efficient motion planning.