Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search
Abstract
Path planning in robotics often requires finding high-quality solutions to continuously valued and/or high-dimensional problems. These problems are challenging and most planning algorithms instead solve simplified approximations. Popular approximations include graphs and random samples, as used by informed graph-based searches and anytime sampling-based planners, respectively.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Jan 27, 2020
- Source ID
- 10.1177/0278364919890396
Entities
People
- Jonathan D. Gammell
- Siddhartha Srinivasa
- Timothy D. Barfoot
Organizations
- Ministry of Research and Innovation
- Natural Sciences and Engineering Research Council
- Office of Naval Research
- University of Oxford
- University of Toronto
- University of Washington