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.
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)
- Springer Proceedings in Advanced Robotics (SPAR)
- Geneva, Switzerland