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Estimation, Search, and Planning (ESP) Research Group

Advanced Batch Informed Trees (ABIT*)

Source Code

ABIT* is now in the Open Motion Planning Library (OMPL) and will be part of future binary releases. You can find details on how to download and install OMPL on their website.

Description

Advanced BIT* (ABIT*) is an almost-surely asymptotically optimal path planner. It views the planning problem as the two subproblems of approximation and search. This perspective allows it use advanced graph-search techniques, such as inflation and truncation. ABIT* outperforms other almost-surely asymptotically optimal planners (e.g., RRT* and BIT*) by finding initial solutions quickly and converging to the optimum in an anytime manner. The benefits of ABIT* were also demonstrated on NASA/JPL-Caltech's Axel Rover System.

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  1. Authors
    1. M. P. Strub
    2. J. D. Gammell
    Title
    Advanced BIT* (ABIT*): Sampling-based planning with advanced graph-search techniques
    Publication
    Conference
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
    Pages
    130–136
    Date
    Code
    Code
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/ICRA40945.2020.9196580
    Google Scholar
    Google Scholar