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Estimation, Search, and Planning (ESP) Research Group

Advanced BIT* (ABIT*): Sampling-based planning with advanced graph-search techniques

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

Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations.

This paper continues work to combine their strengths and mitigate their limitations using a unified planning paradigm. It does this by viewing the path planning problem as the two subproblems of search and approximation and using advanced graph-search techniques on a sampling-based approximation.

This perspective leads to Advanced BIT*. ABIT* combines truncated anytime graph-based searches, such as ATD*, with anytime almost-surely asymptotically optimal sampling-based planners, such as RRT*. This allows it to quickly find initial solutions and then converge towards the optimum in an anytime manner. ABIT* outperforms existing single-query, sampling-based planners on the tested problems in R4 and R8, and was demonstrated on real-world problems with NASA/JPL-Caltech.

VideoVideo
PresentationPresentation
Publication Details
Type
Full-Paper-Refereed Conference Paper
Conference
IEEE International Conference on Robotics and Automation (ICRA)
Pages
130–136
Digital Object Identifier DOI
10.1109/ICRA40945.2020.9196580
arXiv Identifier arXiv
2002.06589 [cs.RO]
Manuscript
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BibTeX Entry
@inproceedings{strub_icra20a,
author = {Marlin P Strub and Jonathan D Gammell},
title = {Advanced {BIT*} ({ABIT*}): {Sampling-based} planning with advanced graph-search techniques},
booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
year = {2020},
pages = {130--136},
month = {31 } # may #{ -- 31 } # aug,
doi = {10.1109/ICRA40945.2020.9196580},
}