Incremental Sampling-based Algorithms for Optimal Motion Planning

3 May 2010 Sertac Karaman Emilio Frazzoli

During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic completeness. However, no theoretical bounds on the quality of the solution obtained by these algorithms have been established so far... (read more)

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