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.

Bibliography

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
2025
Notes
Submitted. Manuscript #2982
Code

Videos

PDFs

arXiv