Carnegie Mellon University
Approaches for Heuristically Biasing RRT Growth

Christopher Urmson and Reid Simmons
IEEE/RSJ IROS 2003, October, 2003.

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This paper presents several modifications to the basic rapidly-exploring random tree (RRT) search algorithm. The fundamental idea is to utilize a heuristic quality function to guide the search. Results from a relevant simulation experiment illustrate the benefit and drawbacks of the developed algorithms. The paper concludes with several promising directions for future research.

Randomized Planning, RRT, path planning


Text Reference
Christopher Urmson and Reid Simmons, "Approaches for Heuristically Biasing RRT Growth," IEEE/RSJ IROS 2003, October, 2003.

BibTeX Reference
   author = "Christopher Urmson and Reid Simmons",
   title = "Approaches for Heuristically Biasing RRT Growth",
   booktitle = "IEEE/RSJ IROS 2003",
   month = "October",
   year = "2003",