Effort Informed Roadmaps (EIRM*)

Source Code

An Open Motion Planning Library (OMPL) implementation of EIRM* is available with EIT* in pull request #844 and will hopefully be part of future binary releases. You can find details on how to download and install OMPL on their website.

Description

Effort Informed Roadmaps (EIRM*) is an almost-surely asymptotically optimal multiquery path planning algorithm based on EIT*. It uses an asymmetric bidirectional search to identify known valid edges in a lazy roadmap and then reuses these to quickly solve individual planning queries by reducing computational effort. EIRM* finds initial solutions up to an order-of-magnitude faster than state-of-the-art multiquery planning algorithms while still almost-surely asymptotically converging to the optimum in an anytime manner.

Bibliography

Authors
1. V. N. Hartmann
2. M. P. Strub
3. M. Toussaint
4. J. D. Gammell
Title
Effort Informed Roadmaps (EIRM*): Efficient asymptotically optimal multiquery planning by actively reusing validation effort
Publication
Conference
Proceedings of the International Symposium on Robotics Research (ISRR)
Location
Geneva, Switzerland
Date
2530 Sep. 2022
Code

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