In robot motion planning, many algorithms have been proposed that create a path for a robot in an environment with obstacles. Since it can be hard to create such paths, most algorithms are aimed at finding a solution. However, for most applications the paths must be of a good quality as well. That is, paths should preferably be short, be smooth, and should preserve some clearance from the obstacles. In this paper, we focus on improving the clearance of paths. Existing methods only extract high clearance paths for rigid, translating bodies. We present an algorithm that improves the clearance along paths of a broader range of robots which may reside in arbitrary high-dimensional configuration spaces. Examples include planar, free-flying and articulated robots
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