Comparison of Sampling v Parallelized Grid Planners in High DOF Environments

This work evaluates the performance and scalability of grid-based and sampling-based motion planning algorithms in high-dimensional configuration spaces.

Note: This work is unpublished, and not fully refined. I have received feedback, and I am working on addressing several issues regarding clarity, metrics, and overall writing. As such, please regard this paper as closer to an initial draft rather than a final product.

Revision: 0.2

Last Update: December 24, 2025