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Carnegie Mellon Robotics Institute

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Abstract

We present a replanning algorithm for repairing Rapidly-exploring Random Trees when changes are made to the configuration space. Instead of abandoning the current RRT, our algorithm efficiently removes just the newly-invalid parts and maintains the rest. It then grows the resulting tree until a new solution is found. We use this algorithm to create a probabilistic analog to the widely-used D* family of deterministic algorithms, and demonstrate its effectiveness in a multirobot planning domain.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Project(s): CTA Robotics

Number of pages: 6

Text Reference

David Ferguson, Nidhi Kalra, and Anthony (Tony) Stentz, "Replanning with RRTs," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006, pp. 1243 - 1248.

BibTeX Reference

@inproceedings{Ferguson_2006_5304,
   author = "David Ferguson and Nidhi Kalra and Anthony (Tony) Stentz",
   title = "Replanning with RRTs",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)",
   pages = "1243 - 1248",
   month = "May",
   year = "2006",
}

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