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Hi, I've read the paper "The Office Marathon".

I couldn't understand whether "the gradient method(reference [13])" is used for local planning or global planning. In the paper, global planner uses the method as global planning apparently. However, in the reference [13], I think it is introduced as local planning.

My question is the gradient method is used for ... what?

It's originally for local planning, but in the case it's applied to global planner? If so, will costmap all over the environment be calculated before a robot moves?

Thank you in advance.