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cs.RO2014★ 416 cited
Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs
Jonathan D. Gammell, Siddhartha S. Srinivasa, Timothy D. Barfoot
In this paper, we present Batch Informed Trees (BIT*), a planning algorithm based on unifying graph- and sampling-based planning techniques. By recognizing that a set of samples de…
cs.RO2014★ 1.2k cited
Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic
Jonathan D. Gammell, Siddhartha S. Srinivasa, Timothy D. Barfoot
Rapidly-exploring random trees (RRTs) are popular in motion planning because they find solutions efficiently to single-query problems. Optimal RRTs (RRT*s) extend RRTs to the probl…