RRT-connect: An efficient approach to single-query path planning

@article{Kuffner2000RRTconnectAE,
  title={RRT-connect: An efficient approach to single-query path planning},
  author={James J. Kuffner and Steven M. LaValle},
  journal={Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)},
  year={2000},
  volume={2},
  pages={995-1001 vol.2}
}
  • J. Kuffner, S. LaValle
  • Published 24 April 2000
  • Computer Science
  • Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building two rapidly-exploring random trees (RRTs) rooted at the start and the goal configurations. The trees each explore space around them and also advance towards each other through, the use of a simple greedy heuristic. Although originally designed to plan motions for a human arm (modeled as a 7-DOF kinematic… 
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