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Estimation, Search, and Planning (ESP) Research Group

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Asymptotically Optimal RRT-Connect (AORRTC)

Source Code

AORRTC will be available in both the Open Motion Planning Library (OMPL) and the Vector-Accelerated Motion Planning (VAMP) library very shortly. You can find details on how to download and install OMPL on its website and how to download and install VAMP on its Github repository.

Description

Asymptotically Optimal RRT-Connect (AORRTC) is an anytime, bidirectional almost-surely asymptotically optimal motion planning algorithm built on the AO-x meta algorithm and RRT-Connect. It searches in a cost-augmented search space to find initial robot motions quickly and then converge to high-quality motions with additional planning time. AORRTC finds initial solutions faster than other almost-surely asymptotically optimal (e.g. BIT*) planners while converging towards optimal plans in an anytime manner.

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  1. Authors
    1. T. S. Wilson
    2. W. Thomason
    3. Z. Kingston
    4. J. D. Gammell
    Title
    AORRTC: Almost-surely asymptotically optimal planning with RRT-Connect
    Publication
    Journal
    IEEE Robotics and Automation Letters (RA-L)
    Date
    Notes
    Submitted, Manuscript # 25-1915
    Code
    Code
    Videos
    Video
    PDFs
    PDF
    arXiv
  2. Authors
    1. T. S. Wilson
    2. W. Thomason
    3. Z. Kingston
    4. J. D. Gammell
    Title
    AORRTC: Finding optimal paths with AO-x and RRT-Connect
    Publication
    Conference
    Proceedings of the Workshop on RoboARCH: Robotics Acceleration with Computing Hardware and Systems, IEEE International Conference on Robotics and Automation (ICRA)
    Location
    Atlanta, GA, USA
    Date