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  2. Smith Eng.
  3. ECE

Estimation, Search, and Planning (ESP) Research Group

Fully Connected Informed Trees (FCIT*)

Source Code

FCIT* is part of the Vector-Accelerated Motion Planning (VAMP) library. You can find details on how to download and install VAMP on its Github repository.

Description

Fully Connected Informed Trees (FCIT*) is an almost-surely asymptotically optimal path planning algorithm. It leverages single instruction, multiple data (SIMD) edge evaluations and a distributed edge queue to efficiently search fully connected graphs. This finds initial solutions quickly because it considers all possible edges and fully utilizes the current samples. FCIT* finds initial solutions faster than almost-surely asymptotically optimal (e.g. BIT* and ABIT*) and satisficing (e.g. OMPL's RRT-Connect) planners while converging towards optimal plans in an anytime manner.

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  1. Authors
    1. T. S. Wilson
    2. W. Thomason
    3. Z. Kingston
    4. L. E. Kavraki
    5. J. D. Gammell
    Title
    Nearest-neighbourless asymptotically optimal motion planning with Fully Connected Informed Trees (FCIT*)
    Publication
    Conference
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
    Date
    Notes
    Submitted. Manuscript #2982
    Code
    Code
    Videos
    Video
    PDFs
    PDF
    arXiv