An OMPL implementation of ABIT* is available in the planner/abitstar branch of our OMPL fork.
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.