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Asymptotically Optimal RRT-Connect (AORRTC)

Tyler has an exciting new work that achieves orders-of-magnitude faster asymptotically optimal planning with and without hardware acceleration. This work is with Wil Thomason and Zak Kingston (CoMMA Lab, Purdue University) and is under review at RA-L and an early release will be presented at the RoboARCH workshop at ICRA 2025. You can can watch the video on YouTube, read the paper on arXiv, and checkout both the VAMP and OMPL code.

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  1. Authors
    1. T. S. Wilson
    2. W. Thomason
    3. Z. Kingston
    4. J. D. Gammell
    Title
    AORRTC: Almost-surely asymptotically optimal planning with RRT-Connect
    Publication
    Journal
    IEEE Robotics and Automation Letters (RA-L)
    Date
    Notes
    Submitted, Manuscript # 25-1915
    Code
    Code
    Videos
    Video
    PDFs
    PDF
    arXiv
  2. Authors
    1. T. S. Wilson
    2. W. Thomason
    3. Z. Kingston
    4. J. D. Gammell
    Title
    AORRTC: Finding optimal paths with AO-x and RRT-Connect
    Publication
    Conference
    Proceedings of the Workshop on RoboARCH: Robotics Acceleration with Computing Hardware and Systems, IEEE International Conference on Robotics and Automation (ICRA)
    Location
    Atlanta, GA, USA
    Date