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cs.RO2017★ 208 cited
Batch Informed Trees (BIT*): Informed Asymptotically Optimal Anytime Search
Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha S. Srinivasa
Path planning in robotics often requires finding high-quality solutions to continuously valued and/or high-dimensional problems. These problems are challenging and most planning al…
cs.RO2017★ 8 cited
Informed Sampling for Asymptotically Optimal Path Planning (Consolidated Version)
Jonathan D Gammell, Timothy D Barfoot, Siddhartha S Srinivasa
Anytime almost-surely asymptotically optimal planners, such as RRT*, incrementally find paths to every state in the search domain. This is inefficient once an initial solution is f…