Rapidly-Exploring Random Trees: Progress and Prospects

  title={Rapidly-Exploring Random Trees: Progress and Prospects},
  author={Steven M. LaValle and James J. Kuffner},
An open-source system for vision-based micro-aerial vehicle mapping, planning, and flight in cluttered environments
We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation,
A Complete System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments
A complete system for micro-aerial vehicle autonomous navigation from vision-based sensing using only on-board sensing and processing is presented, and how this map information is best exploited for planning, especially when using narrow field of view sensors in very cluttered environments.
A Partitioning-Based Approach for Robot Path Planning Problems
A Partitioning-Based Path Planning approach, called PBPP, has been proposed by partitioning-based and hierarchical methods that effectively improve the A* algorithm and demonstrates the PBPP’s utility for reducing time-consumption and finding low-cost paths.
Concurrent Nearest-Neighbor Searching for Parallel Sampling-Based Motion Planning in SO(3), SE(3), and Euclidean Spaces
This paper presents a fast exact nearest neighbor searching data structure and method that is designed to operate under highly-concurrent parallel operation on modern multi-core processors based on a kd-tree, and demonstrates the proposed method’s performance in a parallelized asymptotically-optimal sampling-based motion planner.
Path Planning using Multilayer Neural Network and Rapidly-exploring Random Tree
We propose a path generation method that combines a multilayer neural network (MLN) and a rapidlyexploring random tree (RRT), which is a path-planning method that uses random numbers. Specifically,
Three-dimensional time-optimal path planning in dynamic and realistic environments
Autonomous underwater vehicles (AUVs) are a valuable resource in several oceanic applications such as security, surveillance and data collection for ocean prediction. These vehicles typically travel
Single-step collision-free trajectory planning of biped climbing robots in spatial trusses
The sampling-based algorithm, Bi-RRT, is utilized to plan single-step collision-free motion for biped climbing robots in spatial trusses to deal with the orientation limit of a 5-DoF biped climb robot.
Comparison of motion planning techniques for a multi-rotor UAS equipped with a multi-joint manipulator Arm
This paper presents a comparison between different motion planning algorithms for a multi-rotor UAS equipped with a multi-joint robotic arm. This type of platform is considered in the ARCAS European
Motion planning for a three-stage multilumen transoral lung access system
A motion planner for a multilumen transoral lung access system, a new system that has the potential to perform safe biopsies anywhere in the lung, which could enable more effective early-stage diagnosis of lung cancer.
Viewpoint Planning Framework for Single Guard Robot in Indoor Environment
Title Viewpoint Planning Framework for Single Guard Robot in Indoor Environment For supporting human life, a robot needs to be close and interacts with human. Generally, those closeness and