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Estimation, Search, and Planning (ESP) Research Group

Batch Informed Trees (BIT*)

Source Code

BIT* is now part of the Open Motion Planning Library (OMPL). You can find details on how to download and install OMPL on their website.


Batch Informed Trees (BIT*) is an anytime optimal sampling-based planner that uses the principles of dynamic programming to search the implicit random geometric graph (RGG) given by batches of samples drawn from the problem domain. To do this efficiently, it uses a heuristic much like A* to prioritize both expansion towards the goal and high-quality paths. Experimental results show that it outperforms existing optimal sampling-based planning algorithms (e.g., RRT*, FMT*) in terms of computational cost to find equivalent results while still providing an anytime solution.

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  1. JDGammellTDBarfootSSSrinivasaBatch Informed Trees (BIT*): Informed asymptotically optimal anytime searchThe International Journal of Robotics Research (IJRR)395543–567
  2. Award JDGammellInformed anytime search for continuous planning problemsPh.D. thesisUniversity of Toronto
  3. JDGammellSSSrinivasaTDBarfootBatch Informed Trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphsProceedings of the IEEE international conference on robotics and automation (ICRA)3067–3074Seattle, WA, USA