@article{robotlocalplanneraperiodicsamplingbasedm,
  title = {Robot Local Planner: A Periodic Sampling-Based Motion Planner with Minimal Waypoints for Home Environments},
  author = {Keisuke Takeshita and Takahiro Yamazaki and Tomohiro Ono and Takashi Yamamoto},
  year = {2026},
  eprint = {2602.20645},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.20645},
}