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Estimation, Search, and Planning (ESP) Research Group

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.

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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)
    Location
    Geneva, Switzerland
    Date
    Code
    Code
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    Video
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