A multi-tree extension of the transition-based RRT: Application to ordering and path finding problems in continuous cost spaces

D. Devaurs, T. Siméon, J. Cortés, "A multi-tree extension of the transition-based RRT: Application to ordering and path finding problems in continuous cost spaces", 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, Sep. 2014

Abstract: 
"The Transition-based RRT (T-RRT) is a variant of RRT developed for path planning on a continuous cost space, i.e. a configuration space featuring a continuous cost function. It has been used to solve complex, high-dimensional problems in robotics and structural biology. In this paper, we propose a multiple-tree variant of T-RRT, named Multi-T-RRT. It is especially useful to solve ordering-and-pathfinding problems, i.e. to compute a path going through several unordered waypoints. Using the Multi-T-RRT, such problems can be solved from a purely geometrical perspective, without having to use a symbolic task planner. We evaluate the Multi-T-RRT on several path planning problems and compare it to other path planners. Finally, we apply the Multi-T-RRT to a concrete industrial inspection problem involving an aerial robot."
Order: 
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