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Estimation, Search, and Planning (ESP) Research Group

BIT*: Sampling-based optimal planning via Batch Informed Trees

Authors
  1. Jonathan D. Gammell
  2. Siddhartha S. Srinivasa
  3. Timothy D. Barfoot
Publication Date
Abstract

In this paper, we introduce initial work on an anytime optimal sampling-based planning algorithm, Batch Informed Trees (BIT*). BIT* unifies the developments of Optimal RRT (RRT*) and Fast Marching Trees (FMT*) while extending them with a heuristic. An overview of the algorithm and some initial results are presented, along with a discussion of ongoing future work. As is demonstrated, this new algorithm shows promise compared to RRT* and FMT* in terms of computational cost required to find equivalent solutions.

Publication Details
Type
Abstract-Refereed Conference Paper
Conference
Information-based Grasp and Manipulation Planning Workshop, Robotics: Science and Systems (RSS)
Location
Berkeley, CA, USA
Manuscript
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BibTeX Entry
@inproceedings{gammell_igmpw14,
author = {Jonathan D Gammell and Siddhartha S Srinivasa and Timothy D Barfoot},
title = {{BIT*}: {Sampling-based} optimal planning via {Batch} {Informed} {Trees}},
booktitle = {Proceedings of the Information-based Grasp and Manipulation Planning Workshop, Robotics: Science and Systems ({RSS})},
year = {2014},
address = {Berkeley, CA, USA},
month = {13 } # jul,
}