Sparsification of Motion-Planning Roadmaps by Edge Contraction
  We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal effect on the quality of paths that can be extracted from the new roadmap. The primitive operation used by RSEC is edge contraction - the contraction of a roadmap edge to a single vertex and the connection of the new vertex to the neighboring vertices of the contracted edge. For certain scenarios, we compress more than 98% of the edges and vertices at the cost of degradation of average shortest path length by at most 2%. 
Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal and Dan Halperin
cs.RO cs.DS