Real-time replanning is a prerequisite for motion execution in unpredictably changing environments. This paper presents a framework that allows real-time replanning in high-dimensional configuration spaces. Initially, a planning operation generates a path. The path is augmented by a set of paths homotopic to it. This set is represented implicitly by a volume of free space in the work space. Effectively, this corresponds to delaying part of the planning operation for the homotopic paths until motion execution. During execution reactive control algorithms are used to select a valid path from the set of homotopic paths, using proximity to the environment as a simple and effective heuristic and thereby significantly pruning the search in the configuration space. Experimental results are presented to validate the real-time performance of this framework in high-dimensional configuration spaces.
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