Fast marching tree: A fast marching sampling-based method for optimal motion planning in many dimensions

@article{Janson2015FastMT,
  title={Fast marching tree: A fast marching sampling-based method for optimal motion planning in many dimensions},
  author={Lucas Janson and Edward Schmerling and Ashley A. Clark and Marco Pavone},
  journal={The International journal of robotics research},
  year={2015},
  volume={34 7},
  pages={883-921}
}
In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional configuration spaces. This algorithm is proven to be asymptotically optimal and is shown to converge to an optimal solution faster than its state-of-the-art counterparts, chiefly PRM* and RRT*. The FMT* algorithm performs a "lazy" dynamic programming recursion on… CONTINUE READING
Highly Influential
This paper has highly influenced 10 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 143 citations. REVIEW CITATIONS
Recent Discussions
This paper has been referenced on Twitter 10 times over the past 90 days. VIEW TWEETS
80 Extracted Citations
39 Extracted References
Similar Papers

Citing Papers

Publications influenced by this paper.
Showing 1-10 of 80 extracted citations

144 Citations

020406020142015201620172018
Citations per Year
Semantic Scholar estimates that this publication has 144 citations based on the available data.

See our FAQ for additional information.

Referenced Papers

Publications referenced by this paper.

Similar Papers

Loading similar papers…