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Estimation, Search, and Planning (ESP) Research Group

Effort Informed Roadmaps (EIRM*)

Source Code

EIRM* 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

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.

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  1. 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)
    Series
    Springer Proceedings in Advanced Robotics (SPAR)
    Volume
    27
    Pages
    555–571
    Location
    Geneva, Switzerland
    Date
    Code
    Code
    Videos
    Video
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1007/978-3-031-25555-7_37
    arXiv
    Google Scholar
    Google Scholar