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Estimation, Search, and Planning (ESP) Research Group

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ESP @ ICRA 2020

ICRA can't be held in person this year, but we're still really excited to share Marlin's work. He has two papers on path planning algorithms, Advanced BIT* (ABIT*) and Adaptively Informed Trees (AIT*). You can watch presentations about them on YouTube (ABIT*, AIT*), read their papers on arXiv (ABIT*, AIT*), and even download the code (ABIT*, AIT*). We really think AIT* is exciting work, so we hope you do too.

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  1. Authors
    1. M. P. Strub
    2. J. D. Gammell
    Title
    Advanced BIT* (ABIT*): Sampling-based planning with advanced graph-search techniques
    Publication
    Conference
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
    Pages
    130–136
    Date
    Code
    Code
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/ICRA40945.2020.9196580
    arXiv
    Google Scholar
    Google Scholar
  2. Authors
    1. M. P. Strub
    2. J. D. Gammell
    Title
    Adaptively Informed Trees (AIT*): Fast asymptotically optimal path planning through adaptive heuristics
    Publication
    Conference
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
    Pages
    3191–3198
    Date
    Code
    Code
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/ICRA40945.2020.9197338
    arXiv
    Google Scholar
    Google Scholar