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Estimation, Search, and Planning (ESP) Research Group

A survey of asymptotically optimal sampling-based motion planning methods

Authors
  1. Jonathan D. Gammell
  2. Marlin P. Strub
Publication Date
Abstract

Motion planning is a fundamental problem in autonomous robotics. It requires finding a path to a specified goal that avoids obstacles and obeys a robot’s limitations and constraints. It is often desirable for this path to also optimize a cost function, such as path length.

Formal path-quality guarantees for continuously valued search spaces are an active area of research interest. Recent results have proven that some sampling-based planning methods probabilistically converge towards the optimal solution as computational effort approaches infinity. This survey summarizes the assumptions behind these popular asymptotically optimal techniques and provides an introduction to the significant ongoing research on this topic.

Publication Details
Type
Journal Paper
Journal
Annual Review of Control, Robotics, and Autonomous Systems
Volume
4
Number
1
arXiv Identifier arXiv
2009.10484 [cs.RO]
Notes
Invited, To Appear
Manuscript
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BibTeX Entry
@article{gammell_arcras21,
author = {Jonathan D Gammell and Marlin P Strub},
title = {A survey of asymptotically optimal sampling-based motion planning methods},
journal = {Annual Review of Control, Robotics, and Autonomous Systems},
year = {2021},
volume = {4},
number = {1},
}