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.
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.
- Effort Informed Roadmaps (EIRM*): Efficient asymptotically optimal multiquery planning by actively reusing validation effort
- Proceedings of the International Symposium on Robotics Research (ISRR)
- Geneva, Switzerland