Effort Informed Trees (EIT*)
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Source Code
EIT* is part of the Open Motion Planning Library (OMPL). You can find details on how to download and install OMPL on its website.
Description
Effort Informed Trees (EIT*) is an almost-surely asymptotically optimal path planning algorithm. It simultaneously calculates and exploits multiple heuristics with an asymmetric bidirectional search in which both searches continuously inform each other. One of these heuristics guides EIT* towards fast-to-find solutions by considering information about the computational effort required to validate a path. EIT* outperforms other almost-surely asymptotically optimal algorithms (e.g., RRT* and AIT*) on problems with expensive edge evaluations by finding initial solutions as fast as RRT-Connect and converging to the optimum in an anytime manner.
Bibliography
- Publication
- Journal
- The International Journal of Robotics Research (IJRR)
- Volume
- 41
- Number
- 4
- Pages
- 390–417
- Date
- Publication
- Type
- D.Phil. Thesis
- School
- University of Oxford
- Date