Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search

  title={Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search},
  author={J. Gammell and T. Barfoot and S. Srinivasa},
  journal={The International Journal of Robotics Research},
  pages={543 - 567}
  • J. Gammell, T. Barfoot, S. Srinivasa
  • Published 2020
  • Computer Science, Engineering, Mathematics
  • The International Journal of Robotics Research
  • 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. Informed graph-based searches, such as A*, traditionally use heuristics to search a priori graphs in order of potential… CONTINUE READING
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